diff --git a/.gitattributes b/.gitattributes
index ff5f4d902b53a71dd537dcf05705307daa130426..ada1c34b8290c78d4597a746bd5b07a6f421f09a 100644
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+            "n_captures": 265,
+            "windows": 7,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.0230778610167,
+            "ik_fail_fraction": 0.19107142857142856,
+            "gateC_ee": {
+                "track_err_pos_max": 0.004334918335799166,
+                "track_err_rot_deg_max": 1.254992726710079
+            },
+            "elapsed_s": 149.7
+        },
+        "39": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 224,
+            "windows": 6,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 41.613053052514964,
+            "ik_fail_fraction": 0.13541666666666666,
+            "gateC_ee": {
+                "track_err_pos_max": 0.005952267808536959,
+                "track_err_rot_deg_max": 1.4595283451891226
+            },
+            "elapsed_s": 102.9
+        },
+        "40": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 226,
+            "windows": 6,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 43.99621969005396,
+            "ik_fail_fraction": 0.14791666666666667,
+            "gateC_ee": {
+                "track_err_pos_max": 0.006423283710107193,
+                "track_err_rot_deg_max": 1.4799235515148579
+            },
+            "elapsed_s": 113.5
+        },
+        "41": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 220,
+            "windows": 6,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 43.87226154935326,
+            "ik_fail_fraction": 0.121875,
+            "gateC_ee": {
+                "track_err_pos_max": 0.006091412394801073,
+                "track_err_rot_deg_max": 1.165248081260911
+            },
+            "elapsed_s": 106.8
+        },
+        "42": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 229,
+            "windows": 6,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 43.24018313857202,
+            "ik_fail_fraction": 0.13333333333333333,
+            "gateC_ee": {
+                "track_err_pos_max": 0.005641647126093319,
+                "track_err_rot_deg_max": 1.2148543128723983
+            },
+            "elapsed_s": 123.2
+        },
+        "43": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 356,
+            "windows": 10,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.54162191693176,
+            "ik_fail_fraction": 0.1665625,
+            "gateC_ee": {
+                "track_err_pos_max": 0.0034044890922445403,
+                "track_err_rot_deg_max": 0.7149664921126597
+            },
+            "elapsed_s": 211.9
+        },
+        "44": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 185,
+            "windows": 5,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 47.151055216915395,
+            "ik_fail_fraction": 0.153125,
+            "gateC_ee": {
+                "track_err_pos_max": 0.0071437045281307135,
+                "track_err_rot_deg_max": 1.2215162704060372
+            },
+            "elapsed_s": 99.7
+        },
+        "45": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 223,
+            "windows": 5,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 41.51530992290557,
+            "ik_fail_fraction": 0.159375,
+            "gateC_ee": {
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+                "track_err_rot_deg_max": 1.5375512589175326
+            },
+            "elapsed_s": 120.4
+        },
+        "46": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 221,
+            "windows": 6,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 44.87483997414553,
+            "ik_fail_fraction": 0.14427083333333332,
+            "gateC_ee": {
+                "track_err_pos_max": 0.006109604495705745,
+                "track_err_rot_deg_max": 0.9204061974881651
+            },
+            "elapsed_s": 113.5
+        },
+        "47": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 151,
+            "windows": 3,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 47.73848750922289,
+            "ik_fail_fraction": 0.14895833333333333,
+            "gateC_ee": {
+                "track_err_pos_max": 0.005466438708075549,
+                "track_err_rot_deg_max": 1.0697460626513045
+            },
+            "elapsed_s": 64.2
+        },
+        "48": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 220,
+            "windows": 6,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.25542022031829,
+            "ik_fail_fraction": 0.12604166666666666,
+            "gateC_ee": {
+                "track_err_pos_max": 0.0057160196888048674,
+                "track_err_rot_deg_max": 0.9430690780969659
+            },
+            "elapsed_s": 103.7
+        },
+        "49": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 186,
+            "windows": 5,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 46.15953020059774,
+            "ik_fail_fraction": 0.118125,
+            "gateC_ee": {
+                "track_err_pos_max": 0.02022191116117141,
+                "track_err_rot_deg_max": 1.8774075383139084
+            },
+            "elapsed_s": 89.4
+        }
+    }
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000000.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e8c3145c1bedb180b433cfc7fc700b2ae84652d
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000000.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the smooth textured laptop carefully with the left arm.",
+    "Gently raise the medium foldable silver laptop using the left arm.",
+    "Raise the top of the black screen laptop",
+    "Gently open the smooth textured laptop upward.",
+    "Raise and open the metal laptop.",
+    "Raise the laptop with wood panel background lid using the left arm.",
+    "Pull the keyboard laptop's lid upward.",
+    "Lift the laptop with black textured screen to open.",
+    "Gently open the wood surrounded laptop.",
+    "Use the left arm to open the laptop with black textured screen",
+    "Carefully open the medium foldable silver laptop using the left arm",
+    "Push the wood surrounded laptop's lid upward using the left arm.",
+    "Open the metal laptop entirely.",
+    "Use the left arm to lift the wood surrounded laptop",
+    "Grip and lift the silver laptop's lid.",
+    "Gently lift the black and silver laptop using the left arm",
+    "Pull the silver laptop with foldable parts open with the left arm.",
+    "Lift the medium foldable silver laptop slightly.",
+    "Hold the silver laptop with black keyboard steady, lift lid.",
+    "Slide the laptop with wood panel background open with the left arm.",
+    "Use the left arm to open the silver laptop.",
+    "Raise the lid of the metal laptop.",
+    "Use the left arm to raise the laptop with black textured screen.",
+    "Raise the medium foldable silver laptop's top section.",
+    "Pull up the lid of the smooth textured laptop",
+    "Lift and open the black screen laptop.",
+    "Raise the silver laptop to expose the screen",
+    "Fully lift the black and silver laptop using the left arm.",
+    "Raise the laptop with wood panel background using the left arm.",
+    "Pull the screen of the black screen laptop.",
+    "With the left arm, open the silver laptop's lid.",
+    "Lift the wood surrounded laptop's lid upwards.",
+    "Lift the silver laptop's lid using the left arm.",
+    "Use the left arm to open the laptop with black textured screen.",
+    "Open the medium foldable silver laptop by lifting its lid.",
+    "Pull the lid of the silver laptop with black keyboard upward.",
+    "Lift the laptop with wood panel background open with the left arm.",
+    "Open the laptop with black textured screen lifting with the left arm",
+    "Lift the silver laptop with foldable parts lid completely.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Open the laptop with wood panel background completely.",
+    "Raise the metal laptop lid with the left arm.",
+    "Raise the silver laptop using the left arm.",
+    "Pull the black screen laptop upward lightly.",
+    "Pull open the black and silver laptop",
+    "Lift the medium foldable silver laptop to open it up",
+    "Fully open the wood surrounded laptop.",
+    "Use the left arm to raise the silver laptop with black keyboard.",
+    "Raise the silver laptop with black keyboard using the left arm firmly.",
+    "Use the left arm to raise the silver laptop with black keyboard.",
+    "Open the medium foldable silver laptop carefully with the left arm.",
+    "Gently raise the silver laptop using the left arm.",
+    "Raise the top of the black screen laptop",
+    "Gently open the keyboard laptop upward.",
+    "Raise and open the metal laptop.",
+    "Raise the laptop with black textured screen lid using the left arm.",
+    "Pull the smooth textured laptop's lid upward.",
+    "Lift the keyboard laptop to open.",
+    "Gently open the black and silver laptop.",
+    "Use the left arm to open the black screen laptop",
+    "Carefully open the silver laptop with black keyboard using the left arm",
+    "Push the silver laptop's lid upward using the left arm.",
+    "Open the black screen laptop entirely.",
+    "Use the left arm to lift the medium foldable silver laptop",
+    "Grip and lift the wood surrounded laptop's lid.",
+    "Gently lift the silver laptop with black keyboard using the left arm",
+    "Pull the medium foldable silver laptop open with the left arm.",
+    "Lift the medium foldable silver laptop slightly.",
+    "Hold the wood surrounded laptop steady, lift lid.",
+    "Slide the smooth textured laptop open with the left arm.",
+    "Use the left arm to open the keyboard laptop.",
+    "Raise the lid of the medium foldable silver laptop.",
+    "Use the left arm to raise the metal laptop.",
+    "Raise the silver laptop with black keyboard's top section.",
+    "Pull up the lid of the silver laptop",
+    "Lift and open the smooth textured laptop.",
+    "Raise the metal laptop to expose the screen",
+    "Fully lift the silver laptop with black keyboard using the left arm.",
+    "Raise the metal laptop using the left arm.",
+    "Pull the screen of the laptop with black textured screen.",
+    "With the left arm, open the metal laptop's lid.",
+    "Lift the keyboard laptop's lid upwards.",
+    "Lift the keyboard laptop's lid using the left arm.",
+    "Use the left arm to open the medium foldable silver laptop.",
+    "Open the medium foldable silver laptop by lifting its lid.",
+    "Pull the lid of the black screen laptop upward.",
+    "Lift the silver laptop with black keyboard open with the left arm.",
+    "Open the metal laptop lifting with the left arm",
+    "Lift the silver laptop lid completely.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Open the wood surrounded laptop completely.",
+    "Raise the black screen laptop lid with the left arm.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Pull the smooth textured laptop upward lightly.",
+    "Pull open the black screen laptop",
+    "Lift the wood surrounded laptop to open it up",
+    "Fully open the black and silver laptop.",
+    "Use the left arm to raise the silver laptop.",
+    "Raise the laptop with black textured screen using the left arm firmly.",
+    "Use the left arm to raise the silver laptop with foldable parts."
+  ],
+  "unseen": [
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with care"
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000001.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..782aa89fb0044373e6f5d2d26e05364d25f8f452
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000001.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver laptop with foldable parts to open.",
+    "Raise the silver laptop with foldable parts to expose the screen",
+    "Pull up the lid of the silver laptop with black keyboard",
+    "Push the smooth textured laptop's lid upward using the right arm.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Open the laptop with wood panel background entirely.",
+    "Use the right arm to open the metal laptop.",
+    "Pull the laptop with wood panel background upward lightly.",
+    "Pull open the medium foldable silver laptop",
+    "Use the right arm to raise the wood surrounded laptop.",
+    "Gently open the silver laptop with black keyboard upward.",
+    "Pull the screen of the smooth textured laptop.",
+    "Raise the silver laptop using the right arm firmly.",
+    "Pull the silver laptop with foldable parts's lid upward.",
+    "Raise the top of the black and silver laptop",
+    "Use the right arm to open the smooth textured laptop.",
+    "Pull the metal laptop open with the right arm.",
+    "Raise the silver laptop's top section.",
+    "Slide the wood surrounded laptop open with the right arm.",
+    "Fully lift the medium foldable silver laptop using the right arm.",
+    "Lift the silver laptop with black keyboard slightly.",
+    "Use the right arm to open the medium foldable silver laptop",
+    "Lift the laptop with wood panel background lid completely.",
+    "Use the right arm to lift the keyboard laptop",
+    "Lift the keyboard laptop's lid upwards.",
+    "Raise the silver laptop with black keyboard lid with the right arm.",
+    "Raise and open the medium foldable silver laptop.",
+    "Open the medium foldable silver laptop completely.",
+    "Pull the lid of the silver laptop with black keyboard upward.",
+    "Use the right arm to open the keyboard laptop.",
+    "Open the metal laptop carefully with the right arm.",
+    "Lift the silver laptop with foldable parts to open it up",
+    "Raise the silver laptop with black keyboard using the right arm.",
+    "Fully open the laptop with wood panel background.",
+    "Raise the wood surrounded laptop lid using the right arm.",
+    "Lift and open the laptop with black textured screen.",
+    "Grip and lift the metal laptop's lid.",
+    "Gently lift the medium foldable silver laptop using the right arm",
+    "Raise the laptop with black textured screen using the right arm.",
+    "Lift the laptop with wood panel background's lid using the right arm.",
+    "Open the laptop with wood panel background lifting with the right arm",
+    "Gently raise the keyboard laptop using the right arm.",
+    "Gently open the metal laptop.",
+    "Use the right arm to raise the silver laptop with foldable parts.",
+    "Carefully open the silver laptop using the right arm",
+    "Raise the lid of the silver laptop with black keyboard.",
+    "Use the right arm to raise the silver laptop with foldable parts.",
+    "Hold the medium foldable silver laptop steady, lift lid.",
+    "Lift the keyboard laptop open with the right arm.",
+    "With the right arm, open the keyboard laptop's lid.",
+    "Lift the wood surrounded laptop to open.",
+    "Raise the black and silver laptop to expose the screen",
+    "Pull up the lid of the laptop with wood panel background",
+    "Push the medium foldable silver laptop's lid upward using the right arm.",
+    "Open the silver laptop by lifting its lid.",
+    "Open the laptop with black textured screen entirely.",
+    "Use the right arm to open the black screen laptop.",
+    "Pull the silver laptop upward lightly.",
+    "Pull open the metal laptop",
+    "Use the right arm to raise the laptop with wood panel background.",
+    "Gently open the laptop with wood panel background upward.",
+    "Pull the screen of the silver laptop.",
+    "Raise the keyboard laptop using the right arm firmly.",
+    "Pull the silver laptop with black keyboard's lid upward.",
+    "Raise the top of the wood surrounded laptop",
+    "Use the right arm to open the black and silver laptop.",
+    "Pull the wood surrounded laptop open with the right arm.",
+    "Raise the black screen laptop's top section.",
+    "Slide the medium foldable silver laptop open with the right arm.",
+    "Fully lift the smooth textured laptop using the right arm.",
+    "Lift the metal laptop slightly.",
+    "Use the right arm to open the black and silver laptop",
+    "Lift the wood surrounded laptop lid completely.",
+    "Use the right arm to lift the silver laptop with black keyboard",
+    "Lift the smooth textured laptop's lid upwards.",
+    "Raise the black and silver laptop lid with the right arm.",
+    "Raise and open the wood surrounded laptop.",
+    "Open the silver laptop with foldable parts completely.",
+    "Pull the lid of the silver laptop with foldable parts upward.",
+    "Use the right arm to open the keyboard laptop.",
+    "Open the wood surrounded laptop carefully with the right arm.",
+    "Lift the black and silver laptop to open it up",
+    "Raise the keyboard laptop using the right arm.",
+    "Fully open the keyboard laptop.",
+    "Raise the medium foldable silver laptop lid using the right arm.",
+    "Lift and open the silver laptop.",
+    "Grip and lift the wood surrounded laptop's lid.",
+    "Gently lift the laptop with black textured screen using the right arm",
+    "Raise the silver laptop with foldable parts using the right arm.",
+    "Lift the silver laptop's lid using the right arm.",
+    "Open the silver laptop with foldable parts lifting with the right arm",
+    "Gently raise the metal laptop using the right arm.",
+    "Gently open the wood surrounded laptop.",
+    "Use the right arm to raise the smooth textured laptop.",
+    "Carefully open the metal laptop using the right arm",
+    "Raise the lid of the keyboard laptop.",
+    "Use the right arm to raise the metal laptop.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Lift the metal laptop open with the right arm.",
+    "With the right arm, open the laptop with black textured screen's lid."
+  ],
+  "unseen": [
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Lift the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the foldable laptop and open it.",
+    "Open the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the foldable laptop and open it.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the foldable laptop and open it.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the laptop with glossy black display carefully using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000002.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aa7fc42daee706502b1c726f4612e79c567fdeb
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000002.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black and silver laptop to open.",
+    "Use the right arm to raise the medium foldable silver laptop.",
+    "Carefully open the black screen laptop using the right arm",
+    "Raise and open the silver laptop with black keyboard.",
+    "Gently raise the silver laptop with foldable parts using the right arm.",
+    "Lift the wood surrounded laptop open with the right arm.",
+    "Pull open the silver laptop with foldable parts",
+    "Lift the smooth textured laptop to open it up",
+    "Raise the smooth textured laptop using the right arm.",
+    "Open the metal laptop by lifting its lid.",
+    "Use the right arm to raise the keyboard laptop.",
+    "Use the right arm to open the black screen laptop.",
+    "Gently open the smooth textured laptop upward.",
+    "Raise the silver laptop with black keyboard's top section.",
+    "Grip and lift the metal laptop's lid.",
+    "Raise the black and silver laptop lid with the right arm.",
+    "Use the right arm to open the smooth textured laptop",
+    "Pull the screen of the laptop with wood panel background.",
+    "Gently open the wood surrounded laptop.",
+    "Lift the smooth textured laptop slightly.",
+    "Use the right arm to open the wood surrounded laptop.",
+    "With the right arm, open the laptop with wood panel background's lid.",
+    "Open the laptop with wood panel background carefully with the right arm.",
+    "Raise the medium foldable silver laptop using the right arm.",
+    "Lift the silver laptop lid completely.",
+    "Open the black and silver laptop completely.",
+    "Hold the wood surrounded laptop steady, lift lid.",
+    "Lift the laptop with black textured screen's lid using the right arm.",
+    "Pull the silver laptop with foldable parts upward lightly.",
+    "Raise the top of the silver laptop with black keyboard",
+    "Open the laptop with black textured screen lifting with the right arm",
+    "Pull the black screen laptop's lid upward.",
+    "Open the laptop with black textured screen entirely.",
+    "Fully lift the wood surrounded laptop using the right arm.",
+    "Pull up the lid of the silver laptop with black keyboard",
+    "Slide the silver laptop with foldable parts open with the right arm.",
+    "Raise the lid of the wood surrounded laptop.",
+    "Lift the silver laptop's lid upwards.",
+    "Use the right arm to raise the medium foldable silver laptop.",
+    "Lift and open the silver laptop.",
+    "Raise the silver laptop to expose the screen",
+    "Pull the lid of the wood surrounded laptop upward.",
+    "Use the right arm to lift the black screen laptop",
+    "Fully open the smooth textured laptop.",
+    "Use the right arm to open the laptop with wood panel background.",
+    "Pull the silver laptop with black keyboard open with the right arm.",
+    "Raise the smooth textured laptop lid using the right arm.",
+    "Push the laptop with black textured screen's lid upward using the right arm.",
+    "Raise the wood surrounded laptop using the right arm firmly.",
+    "Gently lift the smooth textured laptop using the right arm",
+    "Lift the silver laptop with black keyboard to open.",
+    "Use the right arm to raise the smooth textured laptop.",
+    "Carefully open the smooth textured laptop using the right arm",
+    "Raise and open the laptop with black textured screen.",
+    "Gently raise the metal laptop using the right arm.",
+    "Lift the laptop with wood panel background open with the right arm.",
+    "Pull open the silver laptop",
+    "Lift the smooth textured laptop to open it up",
+    "Raise the black and silver laptop using the right arm.",
+    "Open the silver laptop by lifting its lid.",
+    "Use the right arm to raise the silver laptop with black keyboard.",
+    "Use the right arm to open the wood surrounded laptop.",
+    "Gently open the laptop with black textured screen upward.",
+    "Raise the laptop with wood panel background's top section.",
+    "Grip and lift the black screen laptop's lid.",
+    "Raise the silver laptop with black keyboard lid with the right arm.",
+    "Use the right arm to open the wood surrounded laptop",
+    "Pull the screen of the laptop with black textured screen.",
+    "Gently open the metal laptop.",
+    "Lift the black screen laptop slightly.",
+    "Use the right arm to open the black and silver laptop.",
+    "With the right arm, open the silver laptop with black keyboard's lid.",
+    "Open the silver laptop with foldable parts carefully with the right arm.",
+    "Raise the silver laptop with foldable parts using the right arm.",
+    "Lift the silver laptop with foldable parts lid completely.",
+    "Open the wood surrounded laptop completely.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Lift the smooth textured laptop's lid using the right arm.",
+    "Pull the silver laptop upward lightly.",
+    "Raise the top of the keyboard laptop",
+    "Open the medium foldable silver laptop lifting with the right arm",
+    "Pull the black screen laptop's lid upward.",
+    "Open the medium foldable silver laptop entirely.",
+    "Fully lift the black screen laptop using the right arm.",
+    "Pull up the lid of the wood surrounded laptop",
+    "Slide the keyboard laptop open with the right arm.",
+    "Raise the lid of the silver laptop with foldable parts.",
+    "Lift the laptop with black textured screen's lid upwards.",
+    "Use the right arm to raise the metal laptop.",
+    "Lift and open the medium foldable silver laptop.",
+    "Raise the black and silver laptop to expose the screen",
+    "Pull the lid of the laptop with black textured screen upward.",
+    "Use the right arm to lift the wood surrounded laptop",
+    "Fully open the silver laptop with black keyboard.",
+    "Use the right arm to open the smooth textured laptop.",
+    "Pull the wood surrounded laptop open with the right arm.",
+    "Raise the silver laptop with black keyboard lid using the right arm.",
+    "Push the black screen laptop's lid upward using the right arm.",
+    "Raise the laptop with black textured screen using the right arm firmly.",
+    "Gently lift the black and silver laptop using the right arm"
+  ],
+  "unseen": [
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display using the right arm",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display using the right arm",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body using the right arm",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body using the right arm",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop using the right arm",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000003.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..06a8e2e67f5b24cdb504e71630e25aa2f50100ce
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000003.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the laptop with silver keyboard lifting with the left arm",
+    "Raise the lid of the portable folding laptop.",
+    "Lift the portable folding laptop to open.",
+    "Open the black laptop with reflective screen entirely.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo",
+    "Fully open the device with flat keyboard and screen.",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Carefully open the matte laptop with smooth screen using the left arm",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Raise the silver keyboard laptop lid using the left arm.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Lift the Toshiba laptop with folding design to open it up",
+    "Slide the black laptop with reflective screen open with the left arm.",
+    "Pull the screen of the portable folding laptop.",
+    "Gently open the silver keyboard laptop upward.",
+    "Gently raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Raise the rectangular laptop with Toshiba logo lid with the left arm.",
+    "Push the silver keyboard laptop's lid upward using the left arm.",
+    "Use the left arm to lift the rectangular laptop with Toshiba logo",
+    "Use the left arm to open the Toshiba laptop with folding design.",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Use the left arm to open the medium-sized laptop.",
+    "Open the black and silver laptop completely.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Raise the device with flat keyboard and screen using the left arm.",
+    "Pull up the lid of the silver keyboard laptop",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Lift the portable folding laptop open with the left arm.",
+    "Grip and lift the folding laptop with screen and keyboard's lid.",
+    "Raise the Toshiba laptop with folding design using the left arm firmly.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Lift and open the medium-sized laptop.",
+    "Raise the top of the compact black and silver computer",
+    "Open the device with flat keyboard and screen carefully with the left arm.",
+    "Use the left arm to raise the silver keyboard laptop.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Raise the device with flat keyboard and screen's top section.",
+    "With the left arm, open the folding laptop with screen and keyboard's lid.",
+    "Pull open the silver keyboard laptop",
+    "Fully lift the compact black and silver computer using the left arm.",
+    "Pull the device with flat keyboard and screen open with the left arm.",
+    "Raise the black laptop with reflective screen to expose the screen",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Lift the black and silver laptop lid completely.",
+    "Lift the laptop with silver keyboard's lid using the left arm.",
+    "Gently lift the device with flat keyboard and screen using the left arm",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Raise and open the compact black and silver computer.",
+    "Raise the laptop with silver keyboard using the left arm.",
+    "Open the folding laptop with screen and keyboard lifting with the left arm",
+    "Raise the lid of the medium-sized laptop.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Open the device with flat keyboard and screen entirely.",
+    "Use the left arm to open the compact black and silver computer",
+    "Fully open the matte laptop with smooth screen.",
+    "Gently open the compact black and silver computer.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Carefully open the device with flat keyboard and screen using the left arm",
+    "Use the left arm to raise the portable folding laptop.",
+    "Raise the black laptop with reflective screen lid using the left arm.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Lift the rectangular laptop with Toshiba logo to open it up",
+    "Slide the folding laptop with screen and keyboard open with the left arm.",
+    "Pull the screen of the compact black and silver computer.",
+    "Gently open the portable folding laptop upward.",
+    "Gently raise the Toshiba laptop with folding design using the left arm.",
+    "Raise the compact black and silver computer lid with the left arm.",
+    "Push the folding laptop with screen and keyboard's lid upward using the left arm.",
+    "Use the left arm to lift the silver keyboard laptop",
+    "Use the left arm to open the compact black and silver computer.",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Use the left arm to open the device with flat keyboard and screen.",
+    "Open the medium-sized laptop completely.",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Raise the Toshiba laptop with folding design using the left arm.",
+    "Pull up the lid of the silver keyboard laptop",
+    "Pull the device with flat keyboard and screen's lid upward.",
+    "Lift the silver keyboard laptop open with the left arm.",
+    "Grip and lift the matte laptop with smooth screen's lid.",
+    "Raise the black laptop with reflective screen using the left arm firmly.",
+    "Hold the device with flat keyboard and screen steady, lift lid.",
+    "Lift and open the compact black and silver computer.",
+    "Raise the top of the laptop with silver keyboard",
+    "Open the rectangular laptop with Toshiba logo carefully with the left arm.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Use the left arm to open the silver keyboard laptop.",
+    "Raise the rectangular laptop with Toshiba logo's top section.",
+    "With the left arm, open the matte laptop with smooth screen's lid.",
+    "Pull open the rectangular laptop with Toshiba logo",
+    "Fully lift the Toshiba laptop with folding design using the left arm.",
+    "Pull the portable folding laptop open with the left arm.",
+    "Raise the portable folding laptop to expose the screen",
+    "Lift the silver keyboard laptop slightly.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Lift the laptop with silver keyboard's lid using the left arm.",
+    "Gently lift the device with flat keyboard and screen using the left arm",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Raise and open the folding laptop with screen and keyboard.",
+    "Raise the black laptop with reflective screen using the left arm."
+  ],
+  "unseen": [
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer with care",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the left arm",
+    "Open the computer with black screen with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen using the left arm",
+    "Open the computer with black screen with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer with care",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer with care",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Grab the portable Toshiba laptop and open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000004.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fcb23a9f7ad293ce89e2b1a7c3f6a9ed6b25bb7
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000004.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the plastic orange laptop with metal parts's lid upward using the right arm.",
+    "Raise the lid of the blue screen foldable laptop.",
+    "Open the hinged screen laptop by lifting its lid.",
+    "Raise the rectangular laptop with orange body using the right arm.",
+    "Open the thin portable laptop carefully with the right arm.",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Lift the rectangular laptop with orange body's lid using the right arm.",
+    "Raise and open the hinged screen laptop.",
+    "Carefully open the orange laptop using the right arm",
+    "Gently open the foldable laptop.",
+    "Lift the laptop with folding lid's lid upwards.",
+    "With the right arm, open the laptop with blue screen's lid.",
+    "Use the right arm to raise the rectangular laptop with orange body.",
+    "Lift and open the blue screen foldable laptop.",
+    "Lift the medium rectangular orange laptop lid completely.",
+    "Gently raise the plastic orange laptop with metal parts using the right arm.",
+    "Pull the rectangular laptop with orange body upward lightly.",
+    "Open the blue screen portable laptop completely.",
+    "Use the right arm to raise the thin portable laptop.",
+    "Raise the laptop with folding lid lid using the right arm.",
+    "Use the right arm to open the rectangular laptop with orange body.",
+    "Gently lift the thin portable laptop using the right arm",
+    "Fully lift the rectangular laptop with orange body using the right arm.",
+    "Open the hinged screen laptop entirely.",
+    "Raise the top of the thin portable laptop",
+    "Raise the medium rectangular orange laptop using the right arm firmly.",
+    "Pull the screen of the laptop with black hinge area.",
+    "Raise the foldable laptop using the right arm.",
+    "Use the right arm to open the blue screen foldable laptop.",
+    "Lift the laptop with folding lid slightly.",
+    "Use the right arm to open the rectangular laptop with orange body.",
+    "Fully open the blue screen foldable laptop.",
+    "Pull the rectangular laptop with orange body's lid upward.",
+    "Open the laptop with folding lid lifting with the right arm",
+    "Use the right arm to open the hinged screen laptop",
+    "Pull the lid of the laptop with black hinge area upward.",
+    "Pull open the plastic orange laptop with metal parts",
+    "Slide the blue screen portable laptop open with the right arm.",
+    "Gently open the medium rectangular orange laptop upward.",
+    "Lift the laptop with folding lid to open it up",
+    "Hold the rectangular laptop with orange body steady, lift lid.",
+    "Grip and lift the hinged screen laptop's lid.",
+    "Raise the orange laptop's top section.",
+    "Pull the thin portable laptop open with the right arm.",
+    "Use the right arm to lift the blue screen portable laptop",
+    "Pull up the lid of the foldable laptop",
+    "Raise the laptop with blue screen lid with the right arm.",
+    "Lift the blue screen foldable laptop to open.",
+    "Raise the blue screen foldable laptop to expose the screen",
+    "Lift the thin portable laptop open with the right arm.",
+    "Push the blue screen portable laptop's lid upward using the right arm.",
+    "Raise the lid of the blue screen foldable laptop.",
+    "Open the plastic orange laptop with metal parts by lifting its lid.",
+    "Raise the blue screen foldable laptop using the right arm.",
+    "Open the laptop with black hinge area carefully with the right arm.",
+    "Use the right arm to raise the orange laptop.",
+    "Lift the thin portable laptop's lid using the right arm.",
+    "Raise and open the foldable laptop.",
+    "Carefully open the blue screen portable laptop using the right arm",
+    "Gently open the thin portable laptop.",
+    "Lift the rectangular laptop with orange body's lid upwards.",
+    "With the right arm, open the medium rectangular orange laptop's lid.",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Lift and open the blue screen portable laptop.",
+    "Lift the laptop with blue screen lid completely.",
+    "Gently raise the orange laptop using the right arm.",
+    "Pull the medium rectangular orange laptop upward lightly.",
+    "Open the thin portable laptop completely.",
+    "Use the right arm to raise the rectangular laptop with orange body.",
+    "Raise the medium rectangular orange laptop lid using the right arm.",
+    "Use the right arm to open the hinged screen laptop.",
+    "Gently lift the rectangular laptop with orange body using the right arm",
+    "Fully lift the plastic orange laptop with metal parts using the right arm.",
+    "Open the foldable laptop entirely.",
+    "Raise the top of the plastic orange laptop with metal parts",
+    "Raise the laptop with black hinge area using the right arm firmly.",
+    "Pull the screen of the orange laptop.",
+    "Raise the hinged screen laptop using the right arm.",
+    "Use the right arm to open the blue screen foldable laptop.",
+    "Lift the medium rectangular orange laptop slightly.",
+    "Use the right arm to open the rectangular laptop with orange body.",
+    "Fully open the thin portable laptop.",
+    "Pull the orange laptop's lid upward.",
+    "Open the laptop with blue screen lifting with the right arm",
+    "Use the right arm to open the blue screen portable laptop",
+    "Pull the lid of the hinged screen laptop upward.",
+    "Pull open the foldable laptop",
+    "Slide the medium rectangular orange laptop open with the right arm.",
+    "Gently open the laptop with black hinge area upward.",
+    "Lift the hinged screen laptop to open it up",
+    "Hold the hinged screen laptop steady, lift lid.",
+    "Grip and lift the hinged screen laptop's lid.",
+    "Raise the blue screen portable laptop's top section.",
+    "Pull the hinged screen laptop open with the right arm.",
+    "Use the right arm to lift the orange laptop",
+    "Pull up the lid of the thin portable laptop",
+    "Raise the orange laptop lid with the right arm.",
+    "Lift the orange laptop to open.",
+    "Raise the blue screen foldable laptop to expose the screen",
+    "Lift the hinged screen laptop open with the right arm."
+  ],
+  "unseen": [
+    "Lift the flat orange laptop using the right arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the flat orange laptop with care",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the compact laptop with orange exterior with care",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the compact laptop with orange exterior with care",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the flat orange laptop with care",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the compact laptop with orange exterior with care",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the flat orange laptop using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the compact laptop with orange exterior with care",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the laptop with smooth surfaces with care",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the flat orange laptop using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the flat orange laptop with care",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the compact laptop with orange exterior with care",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the laptop with smooth surfaces with care",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the compact laptop with orange exterior's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000005.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..27eb5b2150ba50849e24785c99d7d6c9a086651d
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000005.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the top of the portable slim laptop",
+    "Use the left arm to open the portable slim laptop.",
+    "Gently open the compact silver laptop upward.",
+    "Slide the laptop with metallic finish open with the left arm.",
+    "Carefully open the slim laptop using the left arm",
+    "Use the left arm to raise the compact silver laptop.",
+    "Lift the laptop with foldable screen design slightly.",
+    "With the left arm, open the lightweight silver laptop's lid.",
+    "Raise the laptop with black keyboard lid with the left arm.",
+    "Lift the slim laptop lid completely.",
+    "Lift the laptop with foldable screen design to open.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Lift the silver laptop with dark keys open with the left arm.",
+    "Raise the lid of the rectangular laptop with screen.",
+    "Fully lift the slim laptop using the left arm.",
+    "Grip and lift the medium-sized silver laptop's lid.",
+    "Gently raise the metal laptop with black keys using the left arm.",
+    "Raise the rectangular laptop with screen lid using the left arm.",
+    "Pull the lightweight silver laptop's lid upward.",
+    "Open the laptop with black keyboard carefully with the left arm.",
+    "Pull up the lid of the silver laptop with dark keys",
+    "Use the left arm to open the laptop with black keyboard.",
+    "Lift the metal laptop with black keys's lid upwards.",
+    "Raise the slim laptop using the left arm.",
+    "Pull the medium-sized silver laptop open with the left arm.",
+    "Open the lightweight silver laptop lifting with the left arm",
+    "Raise and open the medium-sized silver laptop.",
+    "Pull open the silver laptop with dark keys",
+    "Open the silver laptop with dark keys by lifting its lid.",
+    "Lift the laptop with foldable screen design's lid using the left arm.",
+    "Open the laptop with black keyboard completely.",
+    "Gently open the laptop with black keyboard.",
+    "Pull the portable slim laptop upward lightly.",
+    "Use the left arm to raise the compact silver laptop.",
+    "Open the rectangular laptop with screen entirely.",
+    "Use the left arm to open the laptop with smooth surface",
+    "Use the left arm to raise the portable slim laptop.",
+    "Lift and open the laptop with foldable screen design.",
+    "Pull the screen of the laptop with foldable screen design.",
+    "Fully open the medium-sized silver laptop.",
+    "Hold the rectangular laptop with screen steady, lift lid.",
+    "Raise the rectangular laptop with screen using the left arm firmly.",
+    "Use the left arm to lift the laptop with smooth surface",
+    "Raise the laptop with black keyboard using the left arm.",
+    "Raise the rectangular laptop with screen's top section.",
+    "Push the compact silver laptop's lid upward using the left arm.",
+    "Gently lift the laptop with black keyboard using the left arm",
+    "Lift the medium-sized silver laptop to open it up",
+    "Pull the lid of the rectangular laptop with screen upward.",
+    "Raise the laptop with smooth surface to expose the screen",
+    "Raise the top of the laptop with metallic finish",
+    "Use the left arm to open the silver laptop with dark keys.",
+    "Gently open the silver laptop with dark keys upward.",
+    "Slide the metal laptop with black keys open with the left arm.",
+    "Carefully open the rectangular laptop with screen using the left arm",
+    "Use the left arm to raise the laptop with black keyboard.",
+    "Lift the rectangular laptop with screen slightly.",
+    "With the left arm, open the laptop with black keyboard's lid.",
+    "Raise the slim laptop lid with the left arm.",
+    "Lift the lightweight silver laptop lid completely.",
+    "Lift the slim laptop to open.",
+    "Use the left arm to open the laptop with black keyboard.",
+    "Lift the metal laptop with black keys open with the left arm.",
+    "Raise the lid of the rectangular laptop with screen.",
+    "Fully lift the compact silver laptop using the left arm.",
+    "Grip and lift the laptop with metallic finish's lid.",
+    "Gently raise the rectangular laptop with screen using the left arm.",
+    "Raise the silver laptop with dark keys lid using the left arm.",
+    "Pull the silver laptop with dark keys's lid upward.",
+    "Open the metal laptop with black keys carefully with the left arm.",
+    "Pull up the lid of the laptop with black keyboard",
+    "Use the left arm to open the laptop with metallic finish.",
+    "Lift the rectangular laptop with screen's lid upwards.",
+    "Raise the slim laptop using the left arm.",
+    "Pull the laptop with black keyboard open with the left arm.",
+    "Open the laptop with smooth surface lifting with the left arm",
+    "Raise and open the slim laptop.",
+    "Pull open the laptop with black keyboard",
+    "Open the lightweight silver laptop by lifting its lid.",
+    "Lift the laptop with metallic finish's lid using the left arm.",
+    "Open the laptop with black keyboard completely.",
+    "Gently open the slim laptop.",
+    "Pull the metal laptop with black keys upward lightly.",
+    "Use the left arm to raise the laptop with black keyboard.",
+    "Open the silver laptop with dark keys entirely.",
+    "Use the left arm to open the compact silver laptop",
+    "Use the left arm to raise the portable slim laptop.",
+    "Lift and open the silver laptop with dark keys.",
+    "Pull the screen of the laptop with foldable screen design.",
+    "Fully open the compact silver laptop.",
+    "Hold the laptop with smooth surface steady, lift lid.",
+    "Raise the silver laptop with dark keys using the left arm firmly.",
+    "Use the left arm to lift the portable slim laptop",
+    "Raise the laptop with metallic finish using the left arm.",
+    "Raise the portable slim laptop's top section.",
+    "Push the silver laptop with dark keys's lid upward using the left arm.",
+    "Gently lift the portable slim laptop using the left arm",
+    "Lift the silver laptop with dark keys to open it up",
+    "Pull the lid of the laptop with smooth surface upward.",
+    "Raise the lightweight silver laptop to expose the screen"
+  ],
+  "unseen": [
+    "Open the silver laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the silver laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the foldable laptop with care",
+    "Grab the silver laptop and open it.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the foldable laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Open the silver laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the silver laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the foldable laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the silver laptop using the left arm",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the silver laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the silver laptop using the left arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Open the silver laptop using the left arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the silver laptop using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the silver laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000006.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..86d63337b2af888366e6c25a232a899ce15ba6a0
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000006.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise and open the compact black laptop.",
+    "With the left arm, open the portable laptop's lid.",
+    "Lift the black laptop with sharp rectangular edges to open it up",
+    "Raise the black laptop with sharp rectangular edges's top section.",
+    "Lift the portable laptop lid completely.",
+    "Open the blue base black lid laptop carefully with the left arm.",
+    "Pull the screen of the blue bottom foldable black laptop.",
+    "Raise the rectangular laptop with foldable hinge using the left arm.",
+    "Open the laptop for browsing and computing lifting with the left arm",
+    "Pull up the lid of the laptop for browsing and computing",
+    "Raise the lid of the blue-black laptop.",
+    "Gently open the blue bottom foldable black laptop.",
+    "Lift and open the blue base black lid laptop.",
+    "Gently open the laptop for browsing and computing upward.",
+    "Use the left arm to raise the blue bottom foldable black laptop.",
+    "Gently lift the compact black laptop using the left arm",
+    "Pull the rectangular laptop with foldable hinge open with the left arm.",
+    "Pull open the portable laptop",
+    "Pull the black laptop with sharp rectangular edges's lid upward.",
+    "Lift the compact black laptop slightly.",
+    "Raise the portable laptop using the left arm firmly.",
+    "Use the left arm to lift the black laptop with sharp rectangular edges",
+    "Open the laptop for browsing and computing by lifting its lid.",
+    "Use the left arm to raise the blue bottom foldable black laptop.",
+    "Fully open the black laptop with sharp rectangular edges.",
+    "Grip and lift the laptop for browsing and computing's lid.",
+    "Lift the blue bottom foldable black laptop to open.",
+    "Pull the foldable laptop with screen upward lightly.",
+    "Carefully open the black laptop with sharp rectangular edges using the left arm",
+    "Hold the black laptop with blue bottom panel steady, lift lid.",
+    "Use the left arm to open the black laptop with sharp rectangular edges.",
+    "Use the left arm to open the compact black laptop",
+    "Raise the rectangular laptop with foldable hinge lid with the left arm.",
+    "Slide the laptop for browsing and computing open with the left arm.",
+    "Lift the foldable laptop with screen's lid using the left arm.",
+    "Open the rectangular laptop with foldable hinge entirely.",
+    "Pull the lid of the portable laptop upward.",
+    "Raise the blue-black laptop using the left arm.",
+    "Use the left arm to open the blue bottom foldable black laptop.",
+    "Raise the top of the laptop for browsing and computing",
+    "Raise the foldable laptop with screen lid using the left arm.",
+    "Push the rectangular laptop with foldable hinge's lid upward using the left arm.",
+    "Lift the black laptop with blue bottom panel open with the left arm.",
+    "Open the foldable laptop with screen completely.",
+    "Lift the blue-black laptop's lid upwards.",
+    "Gently raise the foldable laptop with screen using the left arm.",
+    "Raise the laptop for browsing and computing to expose the screen",
+    "Use the left arm to raise the blue base black lid laptop.",
+    "Fully lift the black-and-blue laptop with keyboard using the left arm.",
+    "Use the left arm to open the rectangular laptop with foldable hinge.",
+    "Raise and open the blue bottom foldable black laptop.",
+    "With the left arm, open the rectangular laptop with foldable hinge's lid.",
+    "Lift the rectangular laptop with foldable hinge to open it up",
+    "Raise the rectangular laptop with foldable hinge's top section.",
+    "Lift the black-and-blue laptop with keyboard lid completely.",
+    "Open the black laptop with sharp rectangular edges carefully with the left arm.",
+    "Pull the screen of the foldable laptop with screen.",
+    "Raise the black-and-blue laptop with keyboard using the left arm.",
+    "Open the black laptop with blue bottom panel lifting with the left arm",
+    "Pull up the lid of the black laptop with blue bottom panel",
+    "Raise the lid of the blue-black laptop.",
+    "Gently open the blue-black laptop.",
+    "Lift and open the compact black laptop.",
+    "Gently open the rectangular laptop with foldable hinge upward.",
+    "Use the left arm to raise the foldable laptop with screen.",
+    "Gently lift the black laptop with blue bottom panel using the left arm",
+    "Pull the blue bottom foldable black laptop open with the left arm.",
+    "Pull open the blue bottom foldable black laptop",
+    "Pull the laptop for browsing and computing's lid upward.",
+    "Lift the black laptop with sharp rectangular edges slightly.",
+    "Raise the blue-black laptop using the left arm firmly.",
+    "Use the left arm to lift the black laptop with blue bottom panel",
+    "Open the black-and-blue laptop with keyboard by lifting its lid.",
+    "Use the left arm to raise the blue bottom foldable black laptop.",
+    "Fully open the blue base black lid laptop.",
+    "Grip and lift the black laptop with sharp rectangular edges's lid.",
+    "Lift the black laptop with blue bottom panel to open.",
+    "Pull the blue bottom foldable black laptop upward lightly.",
+    "Carefully open the laptop for browsing and computing using the left arm",
+    "Hold the medium-sized laptop for work steady, lift lid.",
+    "Use the left arm to open the portable laptop.",
+    "Use the left arm to open the foldable laptop with screen",
+    "Raise the medium-sized laptop for work lid with the left arm.",
+    "Slide the blue base black lid laptop open with the left arm.",
+    "Lift the compact black laptop's lid using the left arm.",
+    "Open the blue base black lid laptop entirely.",
+    "Pull the lid of the blue bottom foldable black laptop upward.",
+    "Raise the rectangular laptop with foldable hinge using the left arm.",
+    "Use the left arm to open the portable laptop.",
+    "Raise the top of the blue base black lid laptop",
+    "Raise the blue base black lid laptop lid using the left arm.",
+    "Push the laptop for browsing and computing's lid upward using the left arm.",
+    "Lift the laptop for browsing and computing open with the left arm.",
+    "Open the black-and-blue laptop with keyboard completely.",
+    "Lift the medium-sized laptop for work's lid upwards.",
+    "Gently raise the rectangular laptop with foldable hinge using the left arm.",
+    "Raise the portable laptop to expose the screen",
+    "Use the left arm to raise the blue-black laptop.",
+    "Fully lift the laptop for browsing and computing using the left arm.",
+    "Use the left arm to open the blue base black lid laptop."
+  ],
+  "unseen": [
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the black laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Open the black laptop with one motion.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Open the black laptop with one motion.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the black laptop with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Lift the black laptop's lid fully.",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the black laptop with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Lift the black laptop's lid fully.",
+    "Lift the black laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Lift the black laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the black laptop with care",
+    "Lift the black laptop using the left arm.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the black laptop using the left arm.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the black laptop using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Lift the black laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Lift the black laptop's lid fully.",
+    "Lift the black laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Open the black laptop with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000007.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..37ac900d4979d83c8aa8fdc03a0888db5de7f95b
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000007.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carefully open the black laptop with hinge mechanism using the left arm",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Gently open the medium black rectangular laptop upward.",
+    "Open the sleek black Toshiba computing laptop entirely.",
+    "Pull the screen of the black laptop with red text underneath.",
+    "Open the Toshiba laptop with rectangular screen by lifting its lid.",
+    "Open the black laptop lifting with the left arm",
+    "Fully open the Toshiba laptop.",
+    "With the left arm, open the foldable black laptop's lid.",
+    "Hold the Toshiba laptop with rectangular screen steady, lift lid.",
+    "Gently open the black laptop with smooth matte surface.",
+    "Gently raise the Toshiba laptop with rectangular screen using the left arm.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Use the left arm to open the Toshiba laptop.",
+    "Pull the lid of the Toshiba laptop with rectangular screen upward.",
+    "Lift the foldable black laptop's lid using the left arm.",
+    "Raise the black laptop to expose the screen",
+    "Lift the medium black rectangular laptop to open it up",
+    "Raise the black laptop with smooth matte surface using the left arm.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Fully lift the Toshiba laptop using the left arm.",
+    "Gently lift the black laptop with red text underneath using the left arm",
+    "Use the left arm to raise the Toshiba laptop.",
+    "Raise and open the black laptop with red Toshiba logo.",
+    "Use the left arm to open the black laptop with red Toshiba logo",
+    "Pull up the lid of the black laptop",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Raise the black laptop with red text underneath lid with the left arm.",
+    "Use the left arm to lift the foldable black laptop",
+    "Raise the medium black rectangular laptop lid using the left arm.",
+    "Slide the black laptop with smooth matte surface open with the left arm.",
+    "Lift and open the black laptop with red Toshiba logo.",
+    "Pull the portable folding Toshiba laptop upward lightly.",
+    "Raise the top of the black laptop with red text underneath",
+    "Raise the lid of the portable folding Toshiba laptop.",
+    "Lift the Toshiba laptop open with the left arm.",
+    "Pull open the black laptop with red Toshiba logo",
+    "Open the Toshiba laptop completely.",
+    "Push the portable folding Toshiba laptop's lid upward using the left arm.",
+    "Pull the folding laptop with screen and keyboard open with the left arm.",
+    "Pull the foldable black laptop's lid upward.",
+    "Grip and lift the black laptop with hinge mechanism's lid.",
+    "Lift the Toshiba laptop slightly.",
+    "Lift the medium black rectangular laptop lid completely.",
+    "Use the left arm to raise the Toshiba laptop.",
+    "Raise the black laptop with red text underneath's top section.",
+    "Raise the sleek black Toshiba computing laptop using the left arm firmly.",
+    "Lift the Toshiba laptop's lid upwards.",
+    "Open the foldable black laptop carefully with the left arm.",
+    "Carefully open the black laptop using the left arm",
+    "Use the left arm to open the portable folding Toshiba laptop.",
+    "Gently open the sleek black Toshiba computing laptop upward.",
+    "Open the black laptop entirely.",
+    "Pull the screen of the portable folding Toshiba laptop.",
+    "Open the portable folding Toshiba laptop by lifting its lid.",
+    "Open the Toshiba laptop lifting with the left arm",
+    "Fully open the Toshiba laptop.",
+    "With the left arm, open the medium black rectangular laptop's lid.",
+    "Hold the sleek black Toshiba computing laptop steady, lift lid.",
+    "Gently open the black laptop with red text underneath.",
+    "Gently raise the black laptop with hinge mechanism using the left arm.",
+    "Lift the Toshiba laptop to open.",
+    "Use the left arm to open the foldable black laptop.",
+    "Pull the lid of the black laptop with red Toshiba logo upward.",
+    "Lift the folding laptop with screen and keyboard's lid using the left arm.",
+    "Raise the foldable black laptop to expose the screen",
+    "Lift the black laptop with red text underneath to open it up",
+    "Raise the black laptop with red Toshiba logo using the left arm.",
+    "Use the left arm to raise the portable folding Toshiba laptop.",
+    "Fully lift the black laptop with red Toshiba logo using the left arm.",
+    "Gently lift the Toshiba laptop using the left arm",
+    "Use the left arm to raise the Toshiba laptop.",
+    "Raise and open the folding laptop with screen and keyboard.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen",
+    "Pull up the lid of the black laptop with smooth matte surface",
+    "Raise the portable folding Toshiba laptop using the left arm.",
+    "Use the left arm to open the portable folding Toshiba laptop.",
+    "Raise the Toshiba laptop lid with the left arm.",
+    "Use the left arm to lift the black laptop with hinge mechanism",
+    "Raise the black laptop with red Toshiba logo lid using the left arm.",
+    "Slide the portable folding Toshiba laptop open with the left arm.",
+    "Lift and open the foldable black laptop.",
+    "Pull the black laptop upward lightly.",
+    "Raise the top of the foldable black laptop",
+    "Raise the lid of the black laptop with hinge mechanism.",
+    "Lift the medium black rectangular laptop open with the left arm.",
+    "Pull open the portable folding Toshiba laptop",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Push the foldable black laptop's lid upward using the left arm.",
+    "Pull the black laptop with red Toshiba logo open with the left arm.",
+    "Pull the black laptop with red Toshiba logo's lid upward.",
+    "Grip and lift the Toshiba laptop with rectangular screen's lid.",
+    "Lift the foldable black laptop slightly.",
+    "Lift the black laptop with hinge mechanism lid completely.",
+    "Use the left arm to raise the black laptop with red text underneath.",
+    "Raise the medium black rectangular laptop's top section.",
+    "Raise the folding laptop with screen and keyboard using the left arm firmly.",
+    "Lift the portable folding Toshiba laptop's lid upwards.",
+    "Open the black laptop with red text underneath carefully with the left arm."
+  ],
+  "unseen": [
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the black laptop slightly rounded at edges with care"
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000008.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..699350249fb89d77c9bbfb277c1adaaf0d71deaa
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000008.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the laptop featuring smooth metal finish's lid using the right arm.",
+    "Pull open the hinged laptop with display",
+    "Gently open the blue-screen laptop.",
+    "Lift the laptop with smooth texture's lid upwards.",
+    "Gently raise the laptop with smooth texture using the right arm.",
+    "Lift the laptop featuring smooth metal finish lid completely.",
+    "Use the right arm to raise the laptop featuring smooth metal finish.",
+    "Lift the laptop featuring smooth metal finish to open it up",
+    "Raise the top of the portable silver laptop",
+    "Pull up the lid of the laptop with glass screen",
+    "Open the laptop with blue screen completely.",
+    "Raise the portable silver laptop to expose the screen",
+    "Open the laptop with silver base by lifting its lid.",
+    "Push the rectangular laptop with hinge's lid upward using the right arm.",
+    "Raise the laptop for computing's top section.",
+    "Fully open the laptop featuring smooth metal finish.",
+    "Use the right arm to open the laptop featuring smooth metal finish.",
+    "Raise the laptop with glass screen lid using the right arm.",
+    "Use the right arm to open the hinged laptop with display",
+    "Fully lift the laptop with silver base using the right arm.",
+    "Open the hinged laptop with display entirely.",
+    "Use the right arm to raise the blue-screen laptop.",
+    "Pull the metallic laptop upward lightly.",
+    "Open the laptop featuring smooth metal finish carefully with the right arm.",
+    "Raise and open the rectangular laptop with hinge.",
+    "Pull the laptop featuring smooth metal finish's lid upward.",
+    "Gently open the metallic laptop upward.",
+    "Use the right arm to lift the laptop with silver base",
+    "Lift and open the rectangular laptop with hinge.",
+    "Open the laptop featuring smooth metal finish lifting with the right arm",
+    "Raise the portable silver laptop using the right arm.",
+    "Pull the portable silver laptop open with the right arm.",
+    "Carefully open the medium-sized laptop using the right arm",
+    "Use the right arm to raise the portable silver laptop.",
+    "Pull the screen of the metallic laptop.",
+    "Use the right arm to open the rectangular laptop with hinge.",
+    "Use the right arm to open the portable silver laptop.",
+    "Gently lift the laptop with blue screen using the right arm",
+    "Raise the blue-screen laptop using the right arm firmly.",
+    "Lift the laptop with smooth texture slightly.",
+    "With the right arm, open the metallic laptop's lid.",
+    "Lift the laptop with silver base open with the right arm.",
+    "Grip and lift the laptop with silver base's lid.",
+    "Hold the laptop with smooth texture steady, lift lid.",
+    "Raise the lid of the metallic laptop.",
+    "Raise the hinged laptop with display using the right arm.",
+    "Pull the lid of the metallic laptop upward.",
+    "Lift the blue-screen laptop to open.",
+    "Slide the laptop for computing open with the right arm.",
+    "Raise the laptop with silver base lid with the right arm.",
+    "Lift the portable silver laptop's lid using the right arm.",
+    "Pull open the laptop featuring smooth metal finish",
+    "Gently open the laptop with silver base.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Gently raise the hinged laptop with display using the right arm.",
+    "Lift the portable silver laptop lid completely.",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Lift the blue-screen laptop to open it up",
+    "Raise the top of the laptop featuring smooth metal finish",
+    "Pull up the lid of the laptop featuring smooth metal finish",
+    "Open the metallic laptop completely.",
+    "Raise the blue-screen laptop to expose the screen",
+    "Open the laptop with silver base by lifting its lid.",
+    "Push the laptop for computing's lid upward using the right arm.",
+    "Raise the laptop with glass screen's top section.",
+    "Fully open the blue-screen laptop.",
+    "Use the right arm to open the blue-screen laptop.",
+    "Raise the laptop for computing lid using the right arm.",
+    "Use the right arm to open the laptop featuring smooth metal finish",
+    "Fully lift the hinged laptop with display using the right arm.",
+    "Open the portable silver laptop entirely.",
+    "Use the right arm to raise the laptop with glass screen.",
+    "Pull the blue-screen laptop upward lightly.",
+    "Open the laptop featuring smooth metal finish carefully with the right arm.",
+    "Raise and open the medium-sized laptop.",
+    "Pull the laptop with silver base's lid upward.",
+    "Gently open the rectangular laptop with hinge upward.",
+    "Use the right arm to lift the laptop with blue screen",
+    "Lift and open the medium-sized laptop.",
+    "Open the laptop with smooth texture lifting with the right arm",
+    "Raise the blue-screen laptop using the right arm.",
+    "Pull the laptop featuring smooth metal finish open with the right arm.",
+    "Carefully open the medium-sized laptop using the right arm",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Pull the screen of the metallic laptop.",
+    "Use the right arm to open the laptop with silver base.",
+    "Use the right arm to open the laptop featuring smooth metal finish.",
+    "Gently lift the laptop with blue screen using the right arm",
+    "Raise the laptop with blue screen using the right arm firmly.",
+    "Lift the rectangular laptop with hinge slightly.",
+    "With the right arm, open the laptop with glass screen's lid.",
+    "Lift the metallic laptop open with the right arm.",
+    "Grip and lift the laptop with smooth texture's lid.",
+    "Hold the metallic laptop steady, lift lid.",
+    "Raise the lid of the portable silver laptop.",
+    "Raise the rectangular laptop with hinge using the right arm.",
+    "Pull the lid of the portable silver laptop upward.",
+    "Lift the laptop with blue screen to open.",
+    "Slide the laptop with silver base open with the right arm.",
+    "Raise the laptop with smooth texture lid with the right arm."
+  ],
+  "unseen": [
+    "Lift the compact silver laptop's lid gently.",
+    "Pull up the silver laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Open the compact silver laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Open the silver laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop's lid fully.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Open the compact silver laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Open the sleek laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Open the sleek laptop with care",
+    "Lift the silver laptop's lid fully.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Open the sleek laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Open the sleek laptop with care",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Open the sleek laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop with care",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Open the silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Open the sleek laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop's lid fully.",
+    "Open the sleek laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Open the silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the silver laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop with care",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Open the sleek laptop with one motion.",
+    "Grab the compact silver laptop and open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000009.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5f849a8390a0128c09ff1d81a64f604f5c51fb3
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000009.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the black laptop with reflective screen lid using the left arm.",
+    "Use the left arm to raise the compact black and silver computer.",
+    "Open the black and silver laptop completely.",
+    "Open the black and silver laptop carefully with the left arm.",
+    "Raise the Toshiba laptop with folding design to expose the screen",
+    "Pull the rectangular laptop with Toshiba logo open with the left arm.",
+    "Lift the folding laptop with screen and keyboard open with the left arm.",
+    "Fully open the compact black and silver computer.",
+    "Raise the device with flat keyboard and screen lid with the left arm.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Lift the Toshiba laptop with folding design's lid using the left arm.",
+    "Use the left arm to open the device with flat keyboard and screen",
+    "Lift and open the device with flat keyboard and screen.",
+    "Pull the black laptop with reflective screen upward lightly.",
+    "Pull open the black and silver laptop",
+    "Use the left arm to open the compact black and silver computer.",
+    "Open the medium-sized laptop by lifting its lid.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Lift the compact black and silver computer to open.",
+    "Carefully open the compact black and silver computer using the left arm",
+    "Use the left arm to lift the matte laptop with smooth screen",
+    "With the left arm, open the matte laptop with smooth screen's lid.",
+    "Raise the lid of the medium-sized laptop.",
+    "Lift the silver keyboard laptop slightly.",
+    "Gently open the black laptop with reflective screen.",
+    "Use the left arm to raise the black laptop with reflective screen.",
+    "Push the medium-sized laptop's lid upward using the left arm.",
+    "Raise the Toshiba laptop with folding design using the left arm firmly.",
+    "Open the matte laptop with smooth screen entirely.",
+    "Use the left arm to open the Toshiba laptop with folding design.",
+    "Lift the silver keyboard laptop to open it up",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Slide the rectangular laptop with Toshiba logo open with the left arm.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "Raise the black laptop with reflective screen's top section.",
+    "Pull the screen of the folding laptop with screen and keyboard.",
+    "Fully lift the matte laptop with smooth screen using the left arm.",
+    "Pull the device with flat keyboard and screen's lid upward.",
+    "Raise and open the black laptop with reflective screen.",
+    "Open the black and silver laptop lifting with the left arm",
+    "Raise the Toshiba laptop with folding design using the left arm.",
+    "Lift the laptop with silver keyboard lid completely.",
+    "Pull the lid of the compact black and silver computer upward.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Grip and lift the matte laptop with smooth screen's lid.",
+    "Gently lift the black and silver laptop using the left arm",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Hold the silver keyboard laptop steady, lift lid.",
+    "Gently raise the Toshiba laptop with folding design using the left arm.",
+    "Raise the compact black and silver computer lid using the left arm.",
+    "Use the left arm to raise the silver keyboard laptop.",
+    "Open the compact black and silver computer completely.",
+    "Open the device with flat keyboard and screen carefully with the left arm.",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Pull the portable folding laptop open with the left arm.",
+    "Lift the folding laptop with screen and keyboard open with the left arm.",
+    "Fully open the black and silver laptop.",
+    "Raise the black laptop with reflective screen lid with the left arm.",
+    "Lift the device with flat keyboard and screen's lid upwards.",
+    "Lift the black laptop with reflective screen's lid using the left arm.",
+    "Use the left arm to open the compact black and silver computer",
+    "Lift and open the black and silver laptop.",
+    "Pull the compact black and silver computer upward lightly.",
+    "Pull open the device with flat keyboard and screen",
+    "Use the left arm to open the compact black and silver computer.",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Raise the top of the compact black and silver computer",
+    "Lift the silver keyboard laptop to open.",
+    "Carefully open the portable folding laptop using the left arm",
+    "Use the left arm to lift the device with flat keyboard and screen",
+    "With the left arm, open the device with flat keyboard and screen's lid.",
+    "Raise the lid of the compact black and silver computer.",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Gently open the portable folding laptop.",
+    "Use the left arm to raise the compact black and silver computer.",
+    "Push the compact black and silver computer's lid upward using the left arm.",
+    "Raise the black laptop with reflective screen using the left arm firmly.",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Use the left arm to open the device with flat keyboard and screen.",
+    "Lift the portable folding laptop to open it up",
+    "Raise the compact black and silver computer using the left arm.",
+    "Slide the black and silver laptop open with the left arm.",
+    "Pull up the lid of the compact black and silver computer",
+    "Raise the black laptop with reflective screen's top section.",
+    "Pull the screen of the folding laptop with screen and keyboard.",
+    "Fully lift the black and silver laptop using the left arm.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Raise and open the black and silver laptop.",
+    "Open the device with flat keyboard and screen lifting with the left arm",
+    "Raise the black laptop with reflective screen using the left arm.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Gently open the compact black and silver computer upward.",
+    "Grip and lift the folding laptop with screen and keyboard's lid.",
+    "Gently lift the rectangular laptop with Toshiba logo using the left arm",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Gently raise the black laptop with reflective screen using the left arm."
+  ],
+  "unseen": [
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with one motion.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer with care",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000010.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..058cd019bc1f062656dbb55bd39a08bcce8bd950
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000010.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue-black laptop to open it up",
+    "Raise and open the rectangular laptop with foldable hinge.",
+    "Use the left arm to open the rectangular laptop with foldable hinge.",
+    "Raise the compact black laptop lid with the left arm.",
+    "Gently open the foldable laptop with screen upward.",
+    "Open the blue base black lid laptop entirely.",
+    "Gently raise the laptop for browsing and computing using the left arm.",
+    "Open the blue-black laptop by lifting its lid.",
+    "Pull the lid of the medium-sized laptop for work upward.",
+    "Grip and lift the blue bottom foldable black laptop's lid.",
+    "Fully lift the laptop for browsing and computing using the left arm.",
+    "Open the compact black laptop lifting with the left arm",
+    "Raise the laptop for browsing and computing using the left arm.",
+    "Lift the black laptop with blue bottom panel slightly.",
+    "Use the left arm to open the foldable laptop with screen",
+    "Pull the black laptop with blue bottom panel upward lightly.",
+    "Use the left arm to raise the black laptop with sharp rectangular edges.",
+    "Raise the black-and-blue laptop with keyboard to expose the screen",
+    "Lift the compact black laptop's lid using the left arm.",
+    "Open the medium-sized laptop for work carefully with the left arm.",
+    "Gently open the rectangular laptop with foldable hinge.",
+    "Gently lift the blue bottom foldable black laptop using the left arm",
+    "Lift the foldable laptop with screen to open.",
+    "Slide the rectangular laptop with foldable hinge open with the left arm.",
+    "Pull the screen of the black laptop with sharp rectangular edges.",
+    "Raise the lid of the blue base black lid laptop.",
+    "Lift the blue-black laptop's lid upwards.",
+    "Fully open the black-and-blue laptop with keyboard.",
+    "Lift the blue bottom foldable black laptop open with the left arm.",
+    "Push the black-and-blue laptop with keyboard's lid upward using the left arm.",
+    "Pull the rectangular laptop with foldable hinge open with the left arm.",
+    "Open the compact black laptop completely.",
+    "Use the left arm to raise the blue base black lid laptop.",
+    "Carefully open the laptop for browsing and computing using the left arm",
+    "Use the left arm to raise the foldable laptop with screen.",
+    "Raise the blue-black laptop's top section.",
+    "Raise the blue-black laptop lid using the left arm.",
+    "Pull the rectangular laptop with foldable hinge's lid upward.",
+    "Hold the blue-black laptop steady, lift lid.",
+    "Use the left arm to lift the blue bottom foldable black laptop",
+    "With the left arm, open the portable laptop's lid.",
+    "Use the left arm to open the portable laptop.",
+    "Pull open the black laptop with blue bottom panel",
+    "Raise the laptop for browsing and computing using the left arm firmly.",
+    "Pull up the lid of the portable laptop",
+    "Raise the compact black laptop using the left arm.",
+    "Raise the top of the portable laptop",
+    "Use the left arm to open the black-and-blue laptop with keyboard.",
+    "Lift the foldable laptop with screen lid completely.",
+    "Lift and open the black laptop with sharp rectangular edges.",
+    "Lift the black laptop with sharp rectangular edges to open it up",
+    "Raise and open the portable laptop.",
+    "Use the left arm to open the black-and-blue laptop with keyboard.",
+    "Raise the blue base black lid laptop lid with the left arm.",
+    "Gently open the black-and-blue laptop with keyboard upward.",
+    "Open the foldable laptop with screen entirely.",
+    "Gently raise the blue-black laptop using the left arm.",
+    "Open the black laptop with sharp rectangular edges by lifting its lid.",
+    "Pull the lid of the black-and-blue laptop with keyboard upward.",
+    "Grip and lift the black laptop with sharp rectangular edges's lid.",
+    "Fully lift the black laptop with sharp rectangular edges using the left arm.",
+    "Open the blue-black laptop lifting with the left arm",
+    "Raise the black laptop with sharp rectangular edges using the left arm.",
+    "Lift the foldable laptop with screen slightly.",
+    "Use the left arm to open the blue base black lid laptop",
+    "Pull the black-and-blue laptop with keyboard upward lightly.",
+    "Use the left arm to raise the compact black laptop.",
+    "Raise the blue-black laptop to expose the screen",
+    "Lift the blue-black laptop's lid using the left arm.",
+    "Open the black-and-blue laptop with keyboard carefully with the left arm.",
+    "Gently open the rectangular laptop with foldable hinge.",
+    "Gently lift the black-and-blue laptop with keyboard using the left arm",
+    "Lift the rectangular laptop with foldable hinge to open.",
+    "Slide the portable laptop open with the left arm.",
+    "Pull the screen of the medium-sized laptop for work.",
+    "Raise the lid of the black laptop with blue bottom panel.",
+    "Lift the foldable laptop with screen's lid upwards.",
+    "Fully open the blue-black laptop.",
+    "Lift the black laptop with sharp rectangular edges open with the left arm.",
+    "Push the blue bottom foldable black laptop's lid upward using the left arm.",
+    "Pull the black-and-blue laptop with keyboard open with the left arm.",
+    "Open the foldable laptop with screen completely.",
+    "Use the left arm to raise the blue base black lid laptop.",
+    "Carefully open the compact black laptop using the left arm",
+    "Use the left arm to raise the portable laptop.",
+    "Raise the black laptop with sharp rectangular edges's top section.",
+    "Raise the compact black laptop lid using the left arm.",
+    "Pull the black laptop with blue bottom panel's lid upward.",
+    "Hold the compact black laptop steady, lift lid.",
+    "Use the left arm to lift the black laptop with sharp rectangular edges",
+    "With the left arm, open the medium-sized laptop for work's lid.",
+    "Use the left arm to open the blue base black lid laptop.",
+    "Pull open the portable laptop",
+    "Raise the black laptop with sharp rectangular edges using the left arm firmly.",
+    "Pull up the lid of the black laptop with blue bottom panel",
+    "Raise the rectangular laptop with foldable hinge using the left arm.",
+    "Raise the top of the medium-sized laptop for work",
+    "Use the left arm to open the rectangular laptop with foldable hinge.",
+    "Lift the blue bottom foldable black laptop lid completely.",
+    "Lift and open the medium-sized laptop for work."
+  ],
+  "unseen": [
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the black laptop using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the black laptop with one motion.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Lift the black laptop using the left arm",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the black laptop with care",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the black laptop using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the black laptop carefully using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the black laptop with care",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Lift the black laptop using the left arm",
+    "Open the black laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Grab the black laptop and open it.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Grab the black laptop and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the black laptop carefully using the left arm.",
+    "Open the black laptop with one motion.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop using the left arm.",
+    "Open the black laptop with care",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the black laptop's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the black laptop using the left arm",
+    "Open the black laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Open the black laptop with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000011.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..1503568596a0a2b28d61f8c19d3c2456c3feaebc
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000011.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the black laptop with smooth body carefully with the right arm.",
+    "Open the laptop featuring built-in keyboard by lifting its lid.",
+    "Use the right arm to lift the laptop with rectangular display screen",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Raise the rectangular laptop with folding hinge lid using the right arm.",
+    "Raise the lid of the clamshell laptop with flat screen.",
+    "Slide the rectangular laptop with folding hinge open with the right arm.",
+    "Fully open the laptop featuring built-in keyboard.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Pull the black laptop with smooth body's lid upward.",
+    "Gently lift the black and silver portable laptop using the right arm",
+    "Lift the laptop with shiny black surface slightly.",
+    "Lift and open the laptop with shiny black surface.",
+    "Gently open the black and silver portable laptop.",
+    "Raise the laptop with shiny black surface's top section.",
+    "Lift the laptop with wide black lid to open.",
+    "Pull the laptop featuring built-in keyboard open with the right arm.",
+    "Pull the lid of the black and silver portable laptop upward.",
+    "Lift the laptop with rectangular display screen lid completely.",
+    "Open the rectangular laptop with smooth texture completely.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Pull open the laptop with silver keyboard",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Raise the top of the laptop with silver buttons on keyboard",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Lift the laptop with shiny black surface to open it up",
+    "Pull up the lid of the black and silver portable laptop",
+    "Pull the screen of the black laptop with smooth body.",
+    "Lift the laptop with shiny black surface's lid using the right arm.",
+    "Raise the clamshell laptop with flat screen lid with the right arm.",
+    "Pull the laptop with silver buttons on keyboard upward lightly.",
+    "Gently open the black and silver portable laptop upward.",
+    "Open the laptop with wide black lid lifting with the right arm",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "With the right arm, open the black and silver portable laptop's lid.",
+    "Lift the rectangular laptop with smooth texture's lid upwards.",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Raise and open the black laptop.",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Push the clamshell laptop with flat screen's lid upward using the right arm.",
+    "Gently raise the clamshell laptop with flat screen using the right arm.",
+    "Use the right arm to raise the black laptop with smooth body.",
+    "Hold the laptop with wide black lid steady, lift lid.",
+    "Raise the clamshell laptop with flat screen using the right arm firmly.",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Use the right arm to open the black laptop with smooth body",
+    "Use the right arm to raise the black laptop.",
+    "Lift the laptop with silver buttons on keyboard open with the right arm.",
+    "Open the laptop with shiny black surface entirely.",
+    "Open the laptop with rectangular display screen carefully with the right arm.",
+    "Open the laptop with shiny black surface by lifting its lid.",
+    "Use the right arm to lift the laptop with rectangular display screen",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Raise the laptop with shiny black surface lid using the right arm.",
+    "Raise the lid of the black laptop.",
+    "Slide the rectangular laptop with smooth texture open with the right arm.",
+    "Fully open the rectangular laptop with folding hinge.",
+    "Raise the laptop with wide black lid using the right arm.",
+    "Pull the rectangular laptop with folding hinge's lid upward.",
+    "Gently lift the black laptop with smooth body using the right arm",
+    "Lift the laptop with silver buttons on keyboard slightly.",
+    "Lift and open the laptop featuring built-in keyboard.",
+    "Gently open the rectangular laptop with smooth texture.",
+    "Raise the laptop with wide black lid's top section.",
+    "Lift the laptop with shiny black surface to open.",
+    "Pull the black laptop open with the right arm.",
+    "Pull the lid of the laptop with silver buttons on keyboard upward.",
+    "Lift the black and silver portable laptop lid completely.",
+    "Open the black laptop with smooth body completely.",
+    "Use the right arm to open the clamshell laptop with flat screen.",
+    "Pull open the rectangular laptop with folding hinge",
+    "Fully lift the rectangular laptop with folding hinge using the right arm.",
+    "Raise the top of the laptop with rectangular display screen",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Lift the black laptop to open it up",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Pull the screen of the laptop with shiny black surface.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Raise the laptop featuring built-in keyboard lid with the right arm.",
+    "Pull the rectangular laptop with folding hinge upward lightly.",
+    "Gently open the black laptop upward.",
+    "Open the rectangular laptop with folding hinge lifting with the right arm",
+    "Raise the laptop with shiny black surface to expose the screen",
+    "Use the right arm to raise the black laptop with smooth body.",
+    "With the right arm, open the black and silver portable laptop's lid.",
+    "Lift the black and silver portable laptop's lid upwards.",
+    "Raise the laptop featuring built-in keyboard using the right arm.",
+    "Raise and open the black and silver portable laptop.",
+    "Grip and lift the laptop with wide black lid's lid.",
+    "Push the laptop with shiny black surface's lid upward using the right arm.",
+    "Gently raise the black laptop using the right arm.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Hold the laptop featuring built-in keyboard steady, lift lid.",
+    "Raise the black laptop using the right arm firmly.",
+    "Carefully open the rectangular laptop with smooth texture using the right arm",
+    "Use the right arm to open the clamshell laptop with flat screen",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Lift the laptop with wide black lid open with the right arm.",
+    "Open the laptop featuring built-in keyboard entirely."
+  ],
+  "unseen": [
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000012.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9754144645ca0787f5d802505ece358268ef17e
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000012.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the hinged laptop with screen and base steady, lift lid.",
+    "Use the right arm to open the laptop with screen and keyboard.",
+    "Grip and lift the laptop featuring textured exterior's lid.",
+    "Pull the black metallic laptop open with the right arm.",
+    "Open the laptop with red logo underside entirely.",
+    "Fully lift the black laptop with red accents using the right arm.",
+    "Lift the foldable laptop with patterned keyboard lid completely.",
+    "Raise the laptop featuring textured exterior using the right arm.",
+    "Lift the sleek laptop design's lid using the right arm.",
+    "Pull the laptop featuring textured exterior's lid upward.",
+    "Raise the top of the black laptop",
+    "Pull the screen of the laptop with red logo underside.",
+    "Use the right arm to raise the foldable laptop with patterned keyboard.",
+    "Use the right arm to open the compact black laptop.",
+    "Gently raise the foldable laptop with patterned keyboard using the right arm.",
+    "Gently open the lightweight laptop upward.",
+    "Pull open the foldable laptop with patterned keyboard",
+    "Raise the laptop with screen and keyboard to expose the screen",
+    "Raise and open the laptop with screen and keyboard.",
+    "Use the right arm to open the compact black laptop",
+    "Pull the lid of the laptop with screen and keyboard upward.",
+    "Raise the sleek laptop design lid using the right arm.",
+    "Raise the lid of the hinged laptop with screen and base.",
+    "Open the medium-sized laptop with black body completely.",
+    "With the right arm, open the lightweight laptop's lid.",
+    "Open the laptop with screen and keyboard by lifting its lid.",
+    "Use the right arm to raise the medium-sized laptop with black body.",
+    "Lift the hinged laptop with screen and base slightly.",
+    "Open the black laptop with red accents carefully with the right arm.",
+    "Raise the sleek laptop design using the right arm.",
+    "Pull the medium-sized laptop with black body upward lightly.",
+    "Raise the black laptop using the right arm firmly.",
+    "Fully open the laptop with red logo underside.",
+    "Slide the laptop featuring textured exterior open with the right arm.",
+    "Lift the laptop with screen and keyboard to open it up",
+    "Raise the medium-sized laptop with black body's top section.",
+    "Lift the sleek laptop design open with the right arm.",
+    "Lift and open the hinged laptop with screen and base.",
+    "Open the black laptop lifting with the right arm",
+    "Carefully open the black metallic laptop using the right arm",
+    "Lift the foldable laptop with patterned keyboard to open.",
+    "Use the right arm to lift the sleek laptop design",
+    "Use the right arm to open the laptop with red logo underside.",
+    "Lift the black metallic laptop's lid upwards.",
+    "Gently lift the laptop featuring textured exterior using the right arm",
+    "Use the right arm to raise the laptop with red logo underside.",
+    "Pull up the lid of the black laptop with red accents",
+    "Raise the compact black laptop lid with the right arm.",
+    "Push the black metallic laptop's lid upward using the right arm.",
+    "Gently open the foldable laptop with patterned keyboard.",
+    "Hold the sleek laptop design steady, lift lid.",
+    "Use the right arm to open the lightweight laptop.",
+    "Grip and lift the black metallic laptop's lid.",
+    "Pull the foldable laptop with patterned keyboard open with the right arm.",
+    "Open the black metallic laptop entirely.",
+    "Fully lift the black laptop using the right arm.",
+    "Lift the black metallic laptop lid completely.",
+    "Raise the medium-sized laptop with black body using the right arm.",
+    "Lift the medium-sized laptop with black body's lid using the right arm.",
+    "Pull the lightweight laptop's lid upward.",
+    "Raise the top of the sleek laptop design",
+    "Pull the screen of the hinged laptop with screen and base.",
+    "Use the right arm to raise the black laptop.",
+    "Use the right arm to open the black laptop with red accents.",
+    "Gently raise the foldable laptop with patterned keyboard using the right arm.",
+    "Gently open the laptop with red logo underside upward.",
+    "Pull open the laptop with red logo underside",
+    "Raise the laptop with screen and keyboard to expose the screen",
+    "Raise and open the lightweight laptop.",
+    "Use the right arm to open the medium-sized laptop with black body",
+    "Pull the lid of the medium-sized laptop with black body upward.",
+    "Raise the lightweight laptop lid using the right arm.",
+    "Raise the lid of the black laptop.",
+    "Open the medium-sized laptop with black body completely.",
+    "With the right arm, open the hinged laptop with screen and base's lid.",
+    "Open the compact black laptop by lifting its lid.",
+    "Use the right arm to raise the laptop with red logo underside.",
+    "Lift the black laptop with red accents slightly.",
+    "Open the medium-sized laptop with black body carefully with the right arm.",
+    "Raise the compact black laptop using the right arm.",
+    "Pull the laptop with screen and keyboard upward lightly.",
+    "Raise the compact black laptop using the right arm firmly.",
+    "Fully open the foldable laptop with patterned keyboard.",
+    "Slide the compact black laptop open with the right arm.",
+    "Lift the sleek laptop design to open it up",
+    "Raise the laptop featuring textured exterior's top section.",
+    "Lift the medium-sized laptop with black body open with the right arm.",
+    "Lift and open the black laptop.",
+    "Open the black metallic laptop lifting with the right arm",
+    "Carefully open the black laptop using the right arm",
+    "Lift the hinged laptop with screen and base to open.",
+    "Use the right arm to lift the hinged laptop with screen and base",
+    "Use the right arm to open the black laptop with red accents.",
+    "Lift the sleek laptop design's lid upwards.",
+    "Gently lift the black metallic laptop using the right arm",
+    "Use the right arm to raise the black laptop with red accents.",
+    "Pull up the lid of the laptop with screen and keyboard",
+    "Raise the laptop with red logo underside lid with the right arm.",
+    "Push the compact black laptop's lid upward using the right arm.",
+    "Gently open the lightweight laptop."
+  ],
+  "unseen": [
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Pull up the portable laptop's lid.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop with care",
+    "Open the portable laptop using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop using the right arm",
+    "Pull up the portable laptop's lid.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Open the portable laptop carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop using the right arm",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the right arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop with care",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop with care",
+    "Open the portable laptop using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop using the right arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop with care",
+    "Open the portable laptop using the right arm.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Pull up the portable laptop's lid.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop with care",
+    "Open the portable laptop using the right arm.",
+    "Open the portable laptop carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop with care",
+    "Open the rectangular laptop with smooth finish using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000013.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d4f3012aeffda53f913cce0856fa13c464966c4
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000013.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the rectangular laptop with smooth texture's lid upward using the right arm.",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Slide the laptop with rectangular display screen open with the right arm.",
+    "Raise the laptop with silver buttons on keyboard lid with the right arm.",
+    "Lift the black laptop to open.",
+    "Raise the lid of the laptop featuring built-in keyboard.",
+    "Pull open the rectangular laptop with folding hinge",
+    "Lift the rectangular laptop with folding hinge slightly.",
+    "Raise the laptop with silver buttons on keyboard's top section.",
+    "Lift the laptop with rectangular display screen's lid using the right arm.",
+    "Raise and open the black laptop.",
+    "Open the black laptop with smooth body by lifting its lid.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Carefully open the laptop with silver buttons on keyboard using the right arm",
+    "Pull the screen of the black laptop with smooth body.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Fully open the laptop with shiny black surface.",
+    "Gently raise the rectangular laptop with folding hinge using the right arm.",
+    "Open the black laptop with smooth body carefully with the right arm.",
+    "Raise the clamshell laptop with flat screen to expose the screen",
+    "Gently open the laptop with shiny black surface upward.",
+    "Use the right arm to open the laptop with wide black lid",
+    "Pull the rectangular laptop with smooth texture open with the right arm.",
+    "Use the right arm to lift the laptop with shiny black surface",
+    "Grip and lift the laptop with shiny black surface's lid.",
+    "Raise the black and silver portable laptop lid using the right arm.",
+    "Pull the black laptop upward lightly.",
+    "Open the clamshell laptop with flat screen lifting with the right arm",
+    "Fully lift the laptop with silver buttons on keyboard using the right arm.",
+    "With the right arm, open the rectangular laptop with smooth texture's lid.",
+    "Raise the laptop featuring built-in keyboard using the right arm firmly.",
+    "Pull up the lid of the laptop with silver buttons on keyboard",
+    "Raise the rectangular laptop with folding hinge using the right arm.",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Gently open the laptop with rectangular display screen.",
+    "Open the black laptop with smooth body entirely.",
+    "Open the laptop featuring built-in keyboard completely.",
+    "Use the right arm to raise the black laptop with smooth body.",
+    "Raise the top of the laptop with wide black lid",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Hold the laptop with rectangular display screen steady, lift lid.",
+    "Pull the black laptop with smooth body's lid upward.",
+    "Gently lift the clamshell laptop with flat screen using the right arm",
+    "Lift the rectangular laptop with smooth texture to open it up",
+    "Raise the black and silver portable laptop using the right arm.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Lift the black laptop open with the right arm.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Lift the laptop with wide black lid's lid upwards.",
+    "Lift the rectangular laptop with folding hinge lid completely.",
+    "Push the laptop with wide black lid's lid upward using the right arm.",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Slide the laptop with silver buttons on keyboard open with the right arm.",
+    "Raise the laptop with silver buttons on keyboard lid with the right arm.",
+    "Lift the laptop with rectangular display screen to open.",
+    "Raise the lid of the rectangular laptop with smooth texture.",
+    "Pull open the black laptop",
+    "Lift the laptop with silver buttons on keyboard slightly.",
+    "Raise the laptop with rectangular display screen's top section.",
+    "Lift the laptop with silver buttons on keyboard's lid using the right arm.",
+    "Raise and open the laptop with rectangular display screen.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Pull the lid of the laptop with silver buttons on keyboard upward.",
+    "Carefully open the laptop featuring built-in keyboard using the right arm",
+    "Pull the screen of the laptop with silver buttons on keyboard.",
+    "Lift and open the black and silver portable laptop.",
+    "Fully open the laptop with silver keyboard.",
+    "Gently raise the laptop featuring built-in keyboard using the right arm.",
+    "Open the laptop with silver buttons on keyboard carefully with the right arm.",
+    "Raise the laptop featuring built-in keyboard to expose the screen",
+    "Gently open the laptop with silver keyboard upward.",
+    "Use the right arm to open the rectangular laptop with folding hinge",
+    "Pull the laptop with wide black lid open with the right arm.",
+    "Use the right arm to lift the laptop featuring built-in keyboard",
+    "Grip and lift the laptop with rectangular display screen's lid.",
+    "Raise the rectangular laptop with folding hinge lid using the right arm.",
+    "Pull the black laptop upward lightly.",
+    "Open the laptop with wide black lid lifting with the right arm",
+    "Fully lift the laptop featuring built-in keyboard using the right arm.",
+    "With the right arm, open the laptop with wide black lid's lid.",
+    "Raise the clamshell laptop with flat screen using the right arm firmly.",
+    "Pull up the lid of the laptop with rectangular display screen",
+    "Raise the rectangular laptop with smooth texture using the right arm.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Gently open the laptop with silver keyboard.",
+    "Open the black and silver portable laptop entirely.",
+    "Open the clamshell laptop with flat screen completely.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Raise the top of the rectangular laptop with smooth texture",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Hold the black laptop with smooth body steady, lift lid.",
+    "Pull the laptop with wide black lid's lid upward.",
+    "Gently lift the rectangular laptop with smooth texture using the right arm",
+    "Lift the laptop with silver keyboard to open it up",
+    "Raise the laptop with rectangular display screen using the right arm.",
+    "Use the right arm to open the black laptop.",
+    "Lift the black laptop with smooth body open with the right arm.",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Lift the black laptop with smooth body's lid upwards.",
+    "Lift the black laptop lid completely."
+  ],
+  "unseen": [
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000014.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb61a50b9e124d46a0c1dd43d744c376779fd516
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000014.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the screen of the medium foldable silver laptop.",
+    "Pull up the lid of the black and silver laptop",
+    "Pull the smooth textured laptop's lid upward.",
+    "Use the left arm to raise the keyboard laptop.",
+    "Pull the laptop with wood panel background open with the left arm.",
+    "Gently raise the medium foldable silver laptop using the left arm.",
+    "Pull the lid of the keyboard laptop upward.",
+    "Push the silver laptop's lid upward using the left arm.",
+    "Open the laptop with black textured screen carefully with the left arm.",
+    "Lift the medium foldable silver laptop slightly.",
+    "Slide the black screen laptop open with the left arm.",
+    "Open the laptop with black textured screen lifting with the left arm",
+    "Use the left arm to open the black screen laptop.",
+    "Open the wood surrounded laptop completely.",
+    "Use the left arm to open the black screen laptop.",
+    "Lift the silver laptop with black keyboard to open it up",
+    "Raise the laptop with wood panel background lid with the left arm.",
+    "Raise the keyboard laptop using the left arm firmly.",
+    "Raise the silver laptop's top section.",
+    "Raise the medium foldable silver laptop lid using the left arm.",
+    "Grip and lift the keyboard laptop's lid.",
+    "Gently open the laptop with wood panel background upward.",
+    "Carefully open the medium foldable silver laptop using the left arm",
+    "Use the left arm to raise the laptop with black textured screen.",
+    "Pull the laptop with black textured screen upward lightly.",
+    "Pull open the black and silver laptop",
+    "Lift the metal laptop's lid using the left arm.",
+    "Lift and open the smooth textured laptop.",
+    "Lift the silver laptop open with the left arm.",
+    "Raise the lid of the wood surrounded laptop.",
+    "Gently open the silver laptop.",
+    "Use the left arm to raise the black screen laptop.",
+    "Lift the smooth textured laptop lid completely.",
+    "Lift the metal laptop to open.",
+    "Raise and open the metal laptop.",
+    "Raise the laptop with wood panel background using the left arm.",
+    "Use the left arm to open the smooth textured laptop",
+    "Lift the medium foldable silver laptop's lid upwards.",
+    "Use the left arm to lift the laptop with wood panel background",
+    "Gently lift the black and silver laptop using the left arm",
+    "Hold the smooth textured laptop steady, lift lid.",
+    "Raise the top of the black screen laptop",
+    "Open the laptop with wood panel background by lifting its lid.",
+    "Fully lift the silver laptop with foldable parts using the left arm.",
+    "Raise the laptop with wood panel background to expose the screen",
+    "Raise the laptop with black textured screen using the left arm.",
+    "Use the left arm to open the black and silver laptop.",
+    "Fully open the metal laptop.",
+    "With the left arm, open the medium foldable silver laptop's lid.",
+    "Open the wood surrounded laptop entirely.",
+    "Pull the screen of the laptop with wood panel background.",
+    "Pull up the lid of the laptop with black textured screen",
+    "Pull the silver laptop's lid upward.",
+    "Use the left arm to raise the silver laptop with foldable parts.",
+    "Pull the metal laptop open with the left arm.",
+    "Gently raise the silver laptop using the left arm.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Push the metal laptop's lid upward using the left arm.",
+    "Open the laptop with black textured screen carefully with the left arm.",
+    "Lift the laptop with black textured screen slightly.",
+    "Slide the laptop with black textured screen open with the left arm.",
+    "Open the laptop with black textured screen lifting with the left arm",
+    "Use the left arm to open the laptop with wood panel background.",
+    "Open the silver laptop with black keyboard completely.",
+    "Use the left arm to open the black and silver laptop.",
+    "Lift the silver laptop with black keyboard to open it up",
+    "Raise the metal laptop lid with the left arm.",
+    "Raise the black and silver laptop using the left arm firmly.",
+    "Raise the laptop with black textured screen's top section.",
+    "Raise the metal laptop lid using the left arm.",
+    "Grip and lift the wood surrounded laptop's lid.",
+    "Gently open the silver laptop with black keyboard upward.",
+    "Carefully open the wood surrounded laptop using the left arm",
+    "Use the left arm to raise the black and silver laptop.",
+    "Pull the laptop with black textured screen upward lightly.",
+    "Pull open the silver laptop",
+    "Lift the keyboard laptop's lid using the left arm.",
+    "Lift and open the silver laptop.",
+    "Lift the silver laptop open with the left arm.",
+    "Raise the lid of the laptop with black textured screen.",
+    "Gently open the keyboard laptop.",
+    "Use the left arm to raise the wood surrounded laptop.",
+    "Lift the black and silver laptop lid completely.",
+    "Lift the smooth textured laptop to open.",
+    "Raise and open the wood surrounded laptop.",
+    "Raise the silver laptop using the left arm.",
+    "Use the left arm to open the laptop with wood panel background",
+    "Lift the silver laptop with foldable parts's lid upwards.",
+    "Use the left arm to lift the smooth textured laptop",
+    "Gently lift the silver laptop with foldable parts using the left arm",
+    "Hold the wood surrounded laptop steady, lift lid.",
+    "Raise the top of the wood surrounded laptop",
+    "Open the wood surrounded laptop by lifting its lid.",
+    "Fully lift the metal laptop using the left arm.",
+    "Raise the wood surrounded laptop to expose the screen",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Use the left arm to open the smooth textured laptop.",
+    "Fully open the wood surrounded laptop.",
+    "With the left arm, open the metal laptop's lid.",
+    "Open the silver laptop entirely."
+  ],
+  "unseen": [
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000015.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3bf529ee91b0308d54302e8a348b8afa5035549
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000015.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise and open the clamshell laptop with flat screen.",
+    "Pull up the lid of the black laptop",
+    "Raise the black laptop using the right arm firmly.",
+    "Fully open the laptop with silver buttons on keyboard.",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Gently open the rectangular laptop with folding hinge upward.",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Lift the laptop featuring built-in keyboard lid completely.",
+    "Raise the rectangular laptop with folding hinge lid using the right arm.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Open the laptop with silver keyboard entirely.",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Lift the laptop with shiny black surface's lid upwards.",
+    "Gently open the laptop with shiny black surface.",
+    "Raise the laptop with silver buttons on keyboard using the right arm.",
+    "Lift the laptop with shiny black surface open with the right arm.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Use the right arm to lift the rectangular laptop with smooth texture",
+    "Slide the clamshell laptop with flat screen open with the right arm.",
+    "Grip and lift the black and silver portable laptop's lid.",
+    "Raise the laptop with shiny black surface to expose the screen",
+    "Pull the screen of the rectangular laptop with smooth texture.",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Open the laptop with silver keyboard completely.",
+    "Raise the top of the laptop with silver buttons on keyboard",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Open the laptop with silver keyboard carefully with the right arm.",
+    "Lift and open the laptop with silver keyboard.",
+    "Lift the laptop with shiny black surface's lid using the right arm.",
+    "Pull open the rectangular laptop with folding hinge",
+    "Push the laptop featuring built-in keyboard's lid upward using the right arm.",
+    "With the right arm, open the laptop with shiny black surface's lid.",
+    "Gently raise the black and silver portable laptop using the right arm.",
+    "Use the right arm to raise the laptop with silver buttons on keyboard.",
+    "Open the laptop with silver buttons on keyboard lifting with the right arm",
+    "Use the right arm to open the black laptop.",
+    "Lift the laptop with silver keyboard to open.",
+    "Pull the laptop with silver buttons on keyboard open with the right arm.",
+    "Use the right arm to open the laptop featuring built-in keyboard",
+    "Open the rectangular laptop with smooth texture by lifting its lid.",
+    "Raise the black laptop's top section.",
+    "Raise the lid of the laptop featuring built-in keyboard.",
+    "Gently lift the black and silver portable laptop using the right arm",
+    "Hold the laptop featuring built-in keyboard steady, lift lid.",
+    "Lift the laptop featuring built-in keyboard to open it up",
+    "Pull the black and silver portable laptop upward lightly.",
+    "Fully lift the black laptop using the right arm.",
+    "Lift the rectangular laptop with smooth texture slightly.",
+    "Raise and open the laptop with silver buttons on keyboard.",
+    "Pull up the lid of the rectangular laptop with smooth texture",
+    "Raise the laptop featuring built-in keyboard using the right arm firmly.",
+    "Fully open the laptop with wide black lid.",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Gently open the black laptop upward.",
+    "Carefully open the black and silver portable laptop using the right arm",
+    "Lift the black laptop with smooth body lid completely.",
+    "Raise the black laptop lid using the right arm.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Open the rectangular laptop with smooth texture entirely.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Raise the laptop with rectangular display screen lid with the right arm.",
+    "Lift the laptop with silver buttons on keyboard's lid upwards.",
+    "Gently open the black laptop.",
+    "Raise the rectangular laptop with smooth texture using the right arm.",
+    "Lift the rectangular laptop with folding hinge open with the right arm.",
+    "Pull the laptop with rectangular display screen's lid upward.",
+    "Use the right arm to lift the black laptop with smooth body",
+    "Slide the laptop with wide black lid open with the right arm.",
+    "Grip and lift the clamshell laptop with flat screen's lid.",
+    "Raise the clamshell laptop with flat screen to expose the screen",
+    "Pull the screen of the black laptop with smooth body.",
+    "Raise the rectangular laptop with folding hinge using the right arm.",
+    "Open the laptop featuring built-in keyboard completely.",
+    "Raise the top of the laptop with silver buttons on keyboard",
+    "Pull the lid of the black laptop with smooth body upward.",
+    "Open the black and silver portable laptop carefully with the right arm.",
+    "Lift and open the rectangular laptop with smooth texture.",
+    "Lift the rectangular laptop with smooth texture's lid using the right arm.",
+    "Pull open the black laptop with smooth body",
+    "Push the black laptop with smooth body's lid upward using the right arm.",
+    "With the right arm, open the rectangular laptop with smooth texture's lid.",
+    "Gently raise the laptop with silver buttons on keyboard using the right arm.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Open the black laptop lifting with the right arm",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Lift the rectangular laptop with smooth texture to open.",
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Use the right arm to open the black laptop with smooth body",
+    "Open the laptop with shiny black surface by lifting its lid.",
+    "Raise the laptop with silver buttons on keyboard's top section.",
+    "Raise the lid of the rectangular laptop with folding hinge.",
+    "Gently lift the rectangular laptop with smooth texture using the right arm",
+    "Hold the black laptop with smooth body steady, lift lid.",
+    "Lift the black laptop with smooth body to open it up",
+    "Pull the clamshell laptop with flat screen upward lightly.",
+    "Fully lift the clamshell laptop with flat screen using the right arm.",
+    "Lift the clamshell laptop with flat screen slightly."
+  ],
+  "unseen": [
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000016.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd55934af3226b3fd7886fd36aca1d6d781848ed
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000016.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carefully open the black and silver portable laptop using the left arm",
+    "Raise the laptop with rectangular display screen using the left arm.",
+    "Raise and open the laptop featuring built-in keyboard.",
+    "Fully lift the rectangular laptop with smooth texture using the left arm.",
+    "Pull the black laptop with smooth body's lid upward.",
+    "Pull the black and silver portable laptop open with the left arm.",
+    "Gently lift the laptop with rectangular display screen using the left arm",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Use the left arm to open the black laptop.",
+    "Open the clamshell laptop with flat screen entirely.",
+    "Lift the laptop with wide black lid slightly.",
+    "Hold the laptop with shiny black surface steady, lift lid.",
+    "Pull up the lid of the rectangular laptop with smooth texture",
+    "Pull open the laptop with silver keyboard",
+    "Pull the screen of the black laptop with smooth body.",
+    "Use the left arm to raise the black laptop.",
+    "Use the left arm to lift the black laptop",
+    "Raise the rectangular laptop with smooth texture lid using the left arm.",
+    "Open the black laptop with smooth body carefully with the left arm.",
+    "Gently raise the laptop featuring built-in keyboard using the left arm.",
+    "Use the left arm to raise the clamshell laptop with flat screen.",
+    "Use the left arm to raise the laptop with rectangular display screen.",
+    "Raise the lid of the black laptop.",
+    "Open the black and silver portable laptop by lifting its lid.",
+    "Raise the top of the laptop with wide black lid",
+    "Use the left arm to open the black laptop.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Raise the laptop with shiny black surface using the left arm firmly.",
+    "Pull the laptop with shiny black surface upward lightly.",
+    "Open the laptop with rectangular display screen lifting with the left arm",
+    "Lift the laptop featuring built-in keyboard lid completely.",
+    "Gently open the black and silver portable laptop upward.",
+    "Use the left arm to open the rectangular laptop with smooth texture.",
+    "Gently open the rectangular laptop with folding hinge.",
+    "Lift the laptop with rectangular display screen to open.",
+    "Raise the black and silver portable laptop using the left arm.",
+    "Fully open the clamshell laptop with flat screen.",
+    "Raise the laptop with shiny black surface lid with the left arm.",
+    "Lift the black laptop's lid using the left arm.",
+    "Lift the laptop with wide black lid's lid upwards.",
+    "With the left arm, open the black and silver portable laptop's lid.",
+    "Lift the rectangular laptop with folding hinge open with the left arm.",
+    "Grip and lift the black laptop's lid.",
+    "Lift the laptop with wide black lid to open it up",
+    "Push the laptop with rectangular display screen's lid upward using the left arm.",
+    "Raise the black and silver portable laptop's top section.",
+    "Pull the lid of the clamshell laptop with flat screen upward.",
+    "Slide the laptop with rectangular display screen open with the left arm.",
+    "Use the left arm to open the laptop with silver buttons on keyboard",
+    "Open the rectangular laptop with smooth texture completely.",
+    "Carefully open the laptop with rectangular display screen using the left arm",
+    "Raise the laptop with shiny black surface using the left arm.",
+    "Raise and open the laptop with shiny black surface.",
+    "Fully lift the laptop featuring built-in keyboard using the left arm.",
+    "Pull the rectangular laptop with smooth texture's lid upward.",
+    "Pull the laptop with wide black lid open with the left arm.",
+    "Gently lift the clamshell laptop with flat screen using the left arm",
+    "Raise the rectangular laptop with smooth texture to expose the screen",
+    "Use the left arm to open the laptop with silver buttons on keyboard.",
+    "Open the laptop with wide black lid entirely.",
+    "Lift the laptop with silver buttons on keyboard slightly.",
+    "Hold the laptop featuring built-in keyboard steady, lift lid.",
+    "Pull up the lid of the laptop with wide black lid",
+    "Pull open the laptop with silver buttons on keyboard",
+    "Pull the screen of the laptop with rectangular display screen.",
+    "Use the left arm to raise the laptop with wide black lid.",
+    "Use the left arm to lift the laptop with silver buttons on keyboard",
+    "Raise the laptop with wide black lid lid using the left arm.",
+    "Open the laptop with silver keyboard carefully with the left arm.",
+    "Gently raise the laptop with silver keyboard using the left arm.",
+    "Use the left arm to raise the rectangular laptop with folding hinge.",
+    "Use the left arm to raise the laptop featuring built-in keyboard.",
+    "Raise the lid of the laptop with silver keyboard.",
+    "Open the laptop with silver buttons on keyboard by lifting its lid.",
+    "Raise the top of the laptop with rectangular display screen",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Lift and open the laptop with shiny black surface.",
+    "Raise the laptop with wide black lid using the left arm firmly.",
+    "Pull the laptop with wide black lid upward lightly.",
+    "Open the black laptop with smooth body lifting with the left arm",
+    "Lift the laptop featuring built-in keyboard lid completely.",
+    "Gently open the black laptop upward.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Gently open the laptop with silver keyboard.",
+    "Lift the laptop with silver buttons on keyboard to open.",
+    "Raise the laptop with silver keyboard using the left arm.",
+    "Fully open the laptop featuring built-in keyboard.",
+    "Raise the laptop with rectangular display screen lid with the left arm.",
+    "Lift the clamshell laptop with flat screen's lid using the left arm.",
+    "Lift the laptop with shiny black surface's lid upwards.",
+    "With the left arm, open the laptop with silver buttons on keyboard's lid.",
+    "Lift the laptop with wide black lid open with the left arm.",
+    "Grip and lift the laptop with wide black lid's lid.",
+    "Lift the black and silver portable laptop to open it up",
+    "Push the laptop with shiny black surface's lid upward using the left arm.",
+    "Raise the rectangular laptop with folding hinge's top section.",
+    "Pull the lid of the clamshell laptop with flat screen upward.",
+    "Slide the rectangular laptop with smooth texture open with the left arm.",
+    "Use the left arm to open the laptop with silver keyboard",
+    "Open the rectangular laptop with smooth texture completely."
+  ],
+  "unseen": [
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the medium laptop with black case using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Open the medium laptop with black case with care"
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000017.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e5a5f112544edb5e45f4bff2909fa3a2c32b7b4
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000017.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently raise the laptop with smooth keyboard area using the left arm.",
+    "Carefully open the laptop with blue screen using the left arm",
+    "Use the left arm to raise the screen and keyboard laptop.",
+    "Lift and open the folding laptop with black exterior.",
+    "Use the left arm to raise the rectangular black laptop.",
+    "Raise the top of the laptop with blue screen",
+    "Raise the lid of the folding laptop with black exterior.",
+    "Fully lift the sleek black laptop with blue monitor using the left arm.",
+    "Raise the folding laptop with black exterior using the left arm.",
+    "Use the left arm to open the rectangular black laptop.",
+    "Raise the rectangular black laptop lid using the left arm.",
+    "Lift the rectangular black laptop to open it up",
+    "Use the left arm to open the rectangular black laptop.",
+    "Gently open the black plastic laptop with blue display upward.",
+    "Grip and lift the laptop with smooth matte surface's lid.",
+    "Lift the black laptop slightly.",
+    "Use the left arm to lift the sleek black laptop with blue monitor",
+    "Push the laptop with smooth keyboard area's lid upward using the left arm.",
+    "Pull the screen of the rectangular black laptop.",
+    "Pull up the lid of the black plastic laptop with blue display",
+    "Lift the folding laptop with black exterior to open.",
+    "Open the black laptop completely.",
+    "Raise the rectangular black laptop's top section.",
+    "Open the blue-screen laptop with flat keys carefully with the left arm.",
+    "Pull the lid of the laptop with smooth matte surface upward.",
+    "Fully open the portable folding laptop.",
+    "Raise the rectangular black laptop using the left arm.",
+    "Use the left arm to open the folding laptop with black exterior",
+    "Pull open the screen and keyboard laptop",
+    "Raise the laptop with blue screen using the left arm firmly.",
+    "Open the black plastic laptop with blue display by lifting its lid.",
+    "Gently lift the portable folding laptop using the left arm",
+    "Use the left arm to raise the laptop with smooth matte surface.",
+    "Open the portable folding laptop lifting with the left arm",
+    "Slide the black laptop open with the left arm.",
+    "Raise and open the folding laptop with black exterior.",
+    "Pull the laptop with smooth keyboard area's lid upward.",
+    "With the left arm, open the laptop with smooth matte surface's lid.",
+    "Pull the laptop with smooth matte surface open with the left arm.",
+    "Lift the rectangular black laptop's lid upwards.",
+    "Lift the laptop with blue screen's lid using the left arm.",
+    "Pull the blue-screen laptop with flat keys upward lightly.",
+    "Raise the laptop with rectangular base to expose the screen",
+    "Lift the blue-screen laptop with flat keys open with the left arm.",
+    "Lift the rectangular black laptop lid completely.",
+    "Open the screen and keyboard laptop entirely.",
+    "Gently open the laptop with smooth keyboard area.",
+    "Use the left arm to open the black plastic laptop with blue display.",
+    "Hold the black laptop steady, lift lid.",
+    "Raise the rectangular black laptop lid with the left arm.",
+    "Gently raise the sleek black laptop with blue monitor using the left arm.",
+    "Carefully open the folding laptop with black exterior using the left arm",
+    "Use the left arm to raise the black plastic laptop with blue display.",
+    "Lift and open the sleek black laptop with blue monitor.",
+    "Use the left arm to raise the screen and keyboard laptop.",
+    "Raise the top of the black laptop",
+    "Raise the lid of the black laptop.",
+    "Fully lift the blue-screen laptop with flat keys using the left arm.",
+    "Raise the laptop with rectangular base using the left arm.",
+    "Use the left arm to open the laptop with smooth matte surface.",
+    "Raise the laptop with smooth keyboard area lid using the left arm.",
+    "Lift the black laptop to open it up",
+    "Use the left arm to open the laptop with smooth matte surface.",
+    "Gently open the laptop with blue screen upward.",
+    "Grip and lift the portable folding laptop's lid.",
+    "Lift the portable folding laptop slightly.",
+    "Use the left arm to lift the laptop with rectangular base",
+    "Push the sleek black laptop with blue monitor's lid upward using the left arm.",
+    "Pull the screen of the blue-screen laptop with flat keys.",
+    "Pull up the lid of the laptop with blue screen",
+    "Lift the black laptop to open.",
+    "Open the black plastic laptop with blue display completely.",
+    "Raise the portable folding laptop's top section.",
+    "Open the sleek black laptop with blue monitor carefully with the left arm.",
+    "Pull the lid of the black plastic laptop with blue display upward.",
+    "Fully open the laptop with rectangular base.",
+    "Raise the portable folding laptop using the left arm.",
+    "Use the left arm to open the portable folding laptop",
+    "Pull open the laptop with smooth keyboard area",
+    "Raise the laptop with rectangular base using the left arm firmly.",
+    "Open the rectangular black laptop by lifting its lid.",
+    "Gently lift the black plastic laptop with blue display using the left arm",
+    "Use the left arm to raise the black plastic laptop with blue display.",
+    "Open the laptop with smooth matte surface lifting with the left arm",
+    "Slide the portable folding laptop open with the left arm.",
+    "Raise and open the sleek black laptop with blue monitor.",
+    "Pull the rectangular black laptop's lid upward.",
+    "With the left arm, open the laptop with rectangular base's lid.",
+    "Pull the laptop with smooth matte surface open with the left arm.",
+    "Lift the rectangular black laptop's lid upwards.",
+    "Lift the screen and keyboard laptop's lid using the left arm.",
+    "Pull the laptop with blue screen upward lightly.",
+    "Raise the folding laptop with black exterior to expose the screen",
+    "Lift the screen and keyboard laptop open with the left arm.",
+    "Lift the portable folding laptop lid completely.",
+    "Open the laptop with smooth keyboard area entirely.",
+    "Gently open the sleek black laptop with blue monitor.",
+    "Use the left arm to open the laptop with blue screen.",
+    "Hold the laptop with smooth keyboard area steady, lift lid.",
+    "Raise the black laptop lid with the left arm."
+  ],
+  "unseen": [
+    "Open the black laptop with shiny hinges with care",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Grab the black laptop with compact design and open it.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the black laptop with shiny hinges with care",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Open the black laptop with compact design using the left arm.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the medium-sized black laptop with care",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Open the medium-sized black laptop with one motion.",
+    "Open the medium-sized black laptop with care",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Open the black laptop with compact design using the left arm.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the black laptop with shiny hinges with care",
+    "Lift the black laptop with compact design using the left arm",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the medium-sized black laptop with care",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the medium-sized black laptop with care",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the black laptop with compact design with care",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with compact design with one motion.",
+    "Open the black laptop with compact design with care",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Grab the black laptop with compact design and open it.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Open the black laptop with compact design using the left arm.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with compact design with one motion.",
+    "Open the black laptop with compact design with care",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Grab the black laptop with compact design and open it.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with compact design with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000018.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d707a7f076b07bcb5b968ccf4684c3fdf6008f8
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000018.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the silver laptop with dark keys using the right arm.",
+    "Use the right arm to open the laptop with foldable screen design.",
+    "Raise the lightweight silver laptop using the right arm firmly.",
+    "Gently lift the silver laptop with dark keys using the right arm",
+    "Raise the top of the laptop with smooth surface",
+    "Pull up the lid of the rectangular laptop with screen",
+    "Raise the laptop with foldable screen design using the right arm.",
+    "Lift the medium-sized silver laptop slightly.",
+    "Hold the silver laptop with dark keys steady, lift lid.",
+    "Gently raise the laptop with smooth surface using the right arm.",
+    "Pull the laptop with foldable screen design upward lightly.",
+    "Raise the lid of the laptop with foldable screen design.",
+    "Raise the laptop with smooth surface lid using the right arm.",
+    "Pull open the laptop with smooth surface",
+    "Pull the screen of the lightweight silver laptop.",
+    "Use the right arm to open the laptop with black keyboard.",
+    "Open the metal laptop with black keys lifting with the right arm",
+    "Raise the compact silver laptop's top section.",
+    "Use the right arm to open the laptop with foldable screen design",
+    "Open the metal laptop with black keys entirely.",
+    "Raise and open the laptop with metallic finish.",
+    "Use the right arm to raise the silver laptop with dark keys.",
+    "Fully lift the slim laptop using the right arm.",
+    "Lift the laptop with metallic finish lid completely.",
+    "Open the compact silver laptop by lifting its lid.",
+    "Use the right arm to open the slim laptop.",
+    "Lift and open the silver laptop with dark keys.",
+    "Lift the compact silver laptop open with the right arm.",
+    "Open the slim laptop completely.",
+    "Use the right arm to raise the portable slim laptop.",
+    "Slide the laptop with smooth surface open with the right arm.",
+    "Carefully open the laptop with metallic finish using the right arm",
+    "Pull the portable slim laptop's lid upward.",
+    "Use the right arm to raise the lightweight silver laptop.",
+    "Raise the rectangular laptop with screen lid with the right arm.",
+    "Grip and lift the portable slim laptop's lid.",
+    "Open the laptop with black keyboard carefully with the right arm.",
+    "Fully open the lightweight silver laptop.",
+    "Lift the portable slim laptop's lid using the right arm.",
+    "Gently open the laptop with foldable screen design.",
+    "Lift the compact silver laptop's lid upwards.",
+    "Pull the lid of the rectangular laptop with screen upward.",
+    "Use the right arm to lift the lightweight silver laptop",
+    "With the right arm, open the laptop with foldable screen design's lid.",
+    "Raise the slim laptop to expose the screen",
+    "Push the portable slim laptop's lid upward using the right arm.",
+    "Gently open the slim laptop upward.",
+    "Lift the medium-sized silver laptop to open it up",
+    "Pull the laptop with foldable screen design open with the right arm.",
+    "Lift the laptop with black keyboard to open.",
+    "Raise the laptop with black keyboard using the right arm.",
+    "Use the right arm to open the lightweight silver laptop.",
+    "Raise the compact silver laptop using the right arm firmly.",
+    "Gently lift the metal laptop with black keys using the right arm",
+    "Raise the top of the rectangular laptop with screen",
+    "Pull up the lid of the laptop with foldable screen design",
+    "Raise the laptop with smooth surface using the right arm.",
+    "Lift the laptop with metallic finish slightly.",
+    "Hold the laptop with black keyboard steady, lift lid.",
+    "Gently raise the compact silver laptop using the right arm.",
+    "Pull the laptop with black keyboard upward lightly.",
+    "Raise the lid of the medium-sized silver laptop.",
+    "Raise the portable slim laptop lid using the right arm.",
+    "Pull open the metal laptop with black keys",
+    "Pull the screen of the laptop with smooth surface.",
+    "Use the right arm to open the laptop with foldable screen design.",
+    "Open the rectangular laptop with screen lifting with the right arm",
+    "Raise the laptop with smooth surface's top section.",
+    "Use the right arm to open the metal laptop with black keys",
+    "Open the medium-sized silver laptop entirely.",
+    "Raise and open the laptop with foldable screen design.",
+    "Use the right arm to raise the laptop with metallic finish.",
+    "Fully lift the lightweight silver laptop using the right arm.",
+    "Lift the metal laptop with black keys lid completely.",
+    "Open the laptop with foldable screen design by lifting its lid.",
+    "Use the right arm to open the lightweight silver laptop.",
+    "Lift and open the laptop with black keyboard.",
+    "Lift the metal laptop with black keys open with the right arm.",
+    "Open the laptop with foldable screen design completely.",
+    "Use the right arm to raise the laptop with metallic finish.",
+    "Slide the metal laptop with black keys open with the right arm.",
+    "Carefully open the compact silver laptop using the right arm",
+    "Pull the medium-sized silver laptop's lid upward.",
+    "Use the right arm to raise the slim laptop.",
+    "Raise the laptop with foldable screen design lid with the right arm.",
+    "Grip and lift the medium-sized silver laptop's lid.",
+    "Open the compact silver laptop carefully with the right arm.",
+    "Fully open the laptop with foldable screen design.",
+    "Lift the medium-sized silver laptop's lid using the right arm.",
+    "Gently open the laptop with black keyboard.",
+    "Lift the medium-sized silver laptop's lid upwards.",
+    "Pull the lid of the slim laptop upward.",
+    "Use the right arm to lift the laptop with foldable screen design",
+    "With the right arm, open the slim laptop's lid.",
+    "Raise the silver laptop with dark keys to expose the screen",
+    "Push the rectangular laptop with screen's lid upward using the right arm.",
+    "Gently open the metal laptop with black keys upward.",
+    "Lift the portable slim laptop to open it up",
+    "Pull the laptop with foldable screen design open with the right arm.",
+    "Lift the slim laptop to open."
+  ],
+  "unseen": [
+    "Grab the silver laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the silver laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the foldable laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the silver laptop using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the silver laptop with care",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop with care",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the silver laptop using the right arm",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the foldable laptop with care",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the silver laptop using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000019.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d648e44674aca26ab93ca3cdd32f8b2cbdb8164
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000019.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently lift the black laptop with red text underneath using the left arm",
+    "Fully open the medium black rectangular laptop.",
+    "Slide the black laptop open with the left arm.",
+    "Pull the black laptop with red Toshiba logo upward lightly.",
+    "Use the left arm to open the medium black rectangular laptop",
+    "Lift the black laptop with red text underneath's lid upwards.",
+    "Open the black laptop with red Toshiba logo carefully with the left arm.",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Use the left arm to lift the black laptop with hinge mechanism",
+    "Raise and open the portable folding Toshiba laptop.",
+    "Raise the Toshiba laptop using the left arm.",
+    "Open the black laptop with smooth matte surface completely.",
+    "Lift the black laptop with red text underneath lid completely.",
+    "Use the left arm to open the portable folding Toshiba laptop.",
+    "Lift the foldable black laptop's lid using the left arm.",
+    "Pull the screen of the black laptop with hinge mechanism.",
+    "Grip and lift the Toshiba laptop with rectangular screen's lid.",
+    "Open the sleek black Toshiba computing laptop lifting with the left arm",
+    "Raise the top of the sleek black Toshiba computing laptop",
+    "Fully lift the folding laptop with screen and keyboard using the left arm.",
+    "Pull the black laptop with red text underneath open with the left arm.",
+    "Hold the black laptop with hinge mechanism steady, lift lid.",
+    "Raise the sleek black Toshiba computing laptop's top section.",
+    "Pull up the lid of the portable folding Toshiba laptop",
+    "Lift and open the black laptop.",
+    "Use the left arm to open the foldable black laptop.",
+    "Open the black laptop with smooth matte surface by lifting its lid.",
+    "Gently open the black laptop with smooth matte surface.",
+    "Use the left arm to raise the Toshiba laptop.",
+    "With the left arm, open the black laptop's lid.",
+    "Raise the black laptop with red text underneath to expose the screen",
+    "Raise the black laptop lid using the left arm.",
+    "Lift the black laptop with hinge mechanism to open it up",
+    "Push the Toshiba laptop's lid upward using the left arm.",
+    "Lift the black laptop with smooth matte surface slightly.",
+    "Pull the lid of the Toshiba laptop with rectangular screen upward.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Carefully open the black laptop with smooth matte surface using the left arm",
+    "Raise the lid of the Toshiba laptop.",
+    "Raise the black laptop using the left arm firmly.",
+    "Open the foldable black laptop entirely.",
+    "Raise the folding laptop with screen and keyboard lid with the left arm.",
+    "Lift the folding laptop with screen and keyboard open with the left arm.",
+    "Pull the black laptop's lid upward.",
+    "Use the left arm to raise the Toshiba laptop.",
+    "Gently open the black laptop with hinge mechanism upward.",
+    "Pull open the black laptop with hinge mechanism",
+    "Lift the black laptop with smooth matte surface to open.",
+    "Gently raise the black laptop with red text underneath using the left arm.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Gently lift the medium black rectangular laptop using the left arm",
+    "Fully open the folding laptop with screen and keyboard.",
+    "Slide the black laptop open with the left arm.",
+    "Pull the sleek black Toshiba computing laptop upward lightly.",
+    "Use the left arm to open the medium black rectangular laptop",
+    "Lift the medium black rectangular laptop's lid upwards.",
+    "Open the sleek black Toshiba computing laptop carefully with the left arm.",
+    "Raise the portable folding Toshiba laptop using the left arm.",
+    "Use the left arm to lift the foldable black laptop",
+    "Raise and open the medium black rectangular laptop.",
+    "Raise the black laptop with hinge mechanism using the left arm.",
+    "Open the sleek black Toshiba computing laptop completely.",
+    "Lift the black laptop with smooth matte surface lid completely.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Lift the medium black rectangular laptop's lid using the left arm.",
+    "Pull the screen of the Toshiba laptop with rectangular screen.",
+    "Grip and lift the foldable black laptop's lid.",
+    "Open the black laptop with smooth matte surface lifting with the left arm",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Fully lift the black laptop using the left arm.",
+    "Pull the black laptop with smooth matte surface open with the left arm.",
+    "Hold the black laptop with red text underneath steady, lift lid.",
+    "Raise the medium black rectangular laptop's top section.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Lift and open the black laptop with hinge mechanism.",
+    "Use the left arm to open the medium black rectangular laptop.",
+    "Open the black laptop with smooth matte surface by lifting its lid.",
+    "Gently open the Toshiba laptop.",
+    "Use the left arm to raise the Toshiba laptop with rectangular screen.",
+    "With the left arm, open the black laptop with smooth matte surface's lid.",
+    "Raise the black laptop with hinge mechanism to expose the screen",
+    "Raise the Toshiba laptop lid using the left arm.",
+    "Lift the medium black rectangular laptop to open it up",
+    "Push the black laptop with red Toshiba logo's lid upward using the left arm.",
+    "Lift the Toshiba laptop slightly.",
+    "Pull the lid of the black laptop with red Toshiba logo upward.",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "Carefully open the sleek black Toshiba computing laptop using the left arm",
+    "Raise the lid of the black laptop with red Toshiba logo.",
+    "Raise the black laptop with smooth matte surface using the left arm firmly.",
+    "Open the foldable black laptop entirely.",
+    "Raise the sleek black Toshiba computing laptop lid with the left arm.",
+    "Lift the black laptop with red Toshiba logo open with the left arm.",
+    "Pull the Toshiba laptop's lid upward.",
+    "Use the left arm to raise the Toshiba laptop with rectangular screen.",
+    "Gently open the black laptop with hinge mechanism upward.",
+    "Pull open the medium black rectangular laptop",
+    "Lift the black laptop with red Toshiba logo to open.",
+    "Gently raise the Toshiba laptop using the left arm.",
+    "Use the left arm to raise the foldable black laptop."
+  ],
+  "unseen": [
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000020.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a19cd230bdbc5b5c8d34fb5bfbdd6253e413644
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000020.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently open the sleek laptop design.",
+    "Open the compact black laptop carefully with the left arm.",
+    "Lift the laptop with screen and keyboard's lid upwards.",
+    "Fully open the black laptop with red accents.",
+    "With the left arm, open the black laptop with red accents's lid.",
+    "Raise the compact black laptop using the left arm.",
+    "Lift the sleek laptop design slightly.",
+    "Push the laptop with screen and keyboard's lid upward using the left arm.",
+    "Open the foldable laptop with patterned keyboard by lifting its lid.",
+    "Open the compact black laptop lifting with the left arm",
+    "Use the left arm to raise the compact black laptop.",
+    "Raise the lid of the black laptop.",
+    "Fully lift the laptop with screen and keyboard using the left arm.",
+    "Gently raise the laptop with screen and keyboard using the left arm.",
+    "Raise the top of the compact black laptop",
+    "Open the black laptop completely.",
+    "Raise the black laptop with red accents using the left arm firmly.",
+    "Lift and open the black laptop.",
+    "Use the left arm to raise the black laptop with red accents.",
+    "Raise the foldable laptop with patterned keyboard to expose the screen",
+    "Use the left arm to open the compact black laptop.",
+    "Hold the black laptop with red accents steady, lift lid.",
+    "Slide the sleek laptop design open with the left arm.",
+    "Pull the laptop with red logo underside open with the left arm.",
+    "Grip and lift the black metallic laptop's lid.",
+    "Lift the medium-sized laptop with black body to open.",
+    "Pull the lid of the black laptop upward.",
+    "Pull the compact black laptop's lid upward.",
+    "Use the left arm to lift the compact black laptop",
+    "Raise the hinged laptop with screen and base's top section.",
+    "Pull the sleek laptop design upward lightly.",
+    "Pull up the lid of the hinged laptop with screen and base",
+    "Lift the black laptop with red accents lid completely.",
+    "Raise the compact black laptop lid using the left arm.",
+    "Use the left arm to open the black laptop with red accents.",
+    "Carefully open the foldable laptop with patterned keyboard using the left arm",
+    "Raise and open the laptop featuring textured exterior.",
+    "Use the left arm to raise the foldable laptop with patterned keyboard.",
+    "Use the left arm to open the laptop with screen and keyboard",
+    "Lift the sleek laptop design's lid using the left arm.",
+    "Lift the laptop with red logo underside open with the left arm.",
+    "Raise the lightweight laptop using the left arm.",
+    "Lift the black laptop with red accents to open it up",
+    "Pull the screen of the lightweight laptop.",
+    "Pull open the compact black laptop",
+    "Use the left arm to open the hinged laptop with screen and base.",
+    "Raise the sleek laptop design lid with the left arm.",
+    "Open the lightweight laptop entirely.",
+    "Gently open the laptop with red logo underside upward.",
+    "Gently lift the foldable laptop with patterned keyboard using the left arm",
+    "Gently open the black laptop with red accents.",
+    "Open the lightweight laptop carefully with the left arm.",
+    "Lift the black metallic laptop's lid upwards.",
+    "Fully open the black metallic laptop.",
+    "With the left arm, open the compact black laptop's lid.",
+    "Raise the lightweight laptop using the left arm.",
+    "Lift the lightweight laptop slightly.",
+    "Push the foldable laptop with patterned keyboard's lid upward using the left arm.",
+    "Open the black laptop by lifting its lid.",
+    "Open the foldable laptop with patterned keyboard lifting with the left arm",
+    "Use the left arm to raise the black metallic laptop.",
+    "Raise the lid of the lightweight laptop.",
+    "Fully lift the foldable laptop with patterned keyboard using the left arm.",
+    "Gently raise the black metallic laptop using the left arm.",
+    "Raise the top of the compact black laptop",
+    "Open the lightweight laptop completely.",
+    "Raise the medium-sized laptop with black body using the left arm firmly.",
+    "Lift and open the black laptop.",
+    "Use the left arm to raise the hinged laptop with screen and base.",
+    "Raise the black laptop with red accents to expose the screen",
+    "Use the left arm to open the lightweight laptop.",
+    "Hold the sleek laptop design steady, lift lid.",
+    "Slide the black laptop open with the left arm.",
+    "Pull the laptop with screen and keyboard open with the left arm.",
+    "Grip and lift the lightweight laptop's lid.",
+    "Lift the black metallic laptop to open.",
+    "Pull the lid of the sleek laptop design upward.",
+    "Pull the sleek laptop design's lid upward.",
+    "Use the left arm to lift the medium-sized laptop with black body",
+    "Raise the medium-sized laptop with black body's top section.",
+    "Pull the laptop with red logo underside upward lightly.",
+    "Pull up the lid of the laptop with screen and keyboard",
+    "Lift the black laptop with red accents lid completely.",
+    "Raise the black laptop with red accents lid using the left arm.",
+    "Use the left arm to open the black metallic laptop.",
+    "Carefully open the black laptop with red accents using the left arm",
+    "Raise and open the compact black laptop.",
+    "Use the left arm to raise the lightweight laptop.",
+    "Use the left arm to open the black laptop",
+    "Lift the foldable laptop with patterned keyboard's lid using the left arm.",
+    "Lift the medium-sized laptop with black body open with the left arm.",
+    "Raise the laptop with screen and keyboard using the left arm.",
+    "Lift the hinged laptop with screen and base to open it up",
+    "Pull the screen of the laptop featuring textured exterior.",
+    "Pull open the black metallic laptop",
+    "Use the left arm to open the black metallic laptop.",
+    "Raise the foldable laptop with patterned keyboard lid with the left arm.",
+    "Open the black laptop with red accents entirely.",
+    "Gently open the laptop with screen and keyboard upward.",
+    "Gently lift the laptop featuring textured exterior using the left arm"
+  ],
+  "unseen": [
+    "Grab the portable laptop and open it.",
+    "Pull up the portable laptop's lid.",
+    "Lift the portable laptop using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop using the left arm",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Grab the portable laptop and open it.",
+    "Pull up the portable laptop's lid.",
+    "Lift the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the left arm",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Grab the portable laptop and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the portable laptop using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Grab the portable laptop and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the portable laptop's lid.",
+    "Lift the portable laptop using the left arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the left arm",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the portable laptop's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Grab the portable laptop and open it.",
+    "Pull up the portable laptop's lid.",
+    "Lift the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the portable laptop using the left arm.",
+    "Lift the portable laptop's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000021.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d87d4b2b18d77034d06da10b339413c61752e84
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000021.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the screen of the silver laptop.",
+    "Gently open the black and silver laptop.",
+    "Raise the black screen laptop using the left arm firmly.",
+    "Use the left arm to raise the silver laptop.",
+    "Raise the lid of the silver laptop.",
+    "Pull the wood surrounded laptop upward lightly.",
+    "Raise and open the black and silver laptop.",
+    "Open the silver laptop lifting with the left arm",
+    "Raise the wood surrounded laptop lid with the left arm.",
+    "Use the left arm to open the silver laptop with foldable parts.",
+    "Lift and open the laptop with wood panel background.",
+    "Raise the laptop with wood panel background's top section.",
+    "Push the laptop with wood panel background's lid upward using the left arm.",
+    "Use the left arm to raise the laptop with black textured screen.",
+    "Gently lift the wood surrounded laptop using the left arm",
+    "Use the left arm to open the silver laptop with black keyboard.",
+    "Use the left arm to raise the wood surrounded laptop.",
+    "Fully open the black screen laptop.",
+    "Raise the metal laptop lid using the left arm.",
+    "Pull open the black screen laptop",
+    "Lift the silver laptop with foldable parts lid completely.",
+    "Grip and lift the black screen laptop's lid.",
+    "Pull up the lid of the keyboard laptop",
+    "Fully lift the smooth textured laptop using the left arm.",
+    "Lift the silver laptop open with the left arm.",
+    "With the left arm, open the black and silver laptop's lid.",
+    "Carefully open the wood surrounded laptop using the left arm",
+    "Use the left arm to lift the keyboard laptop",
+    "Open the silver laptop with foldable parts completely.",
+    "Gently open the medium foldable silver laptop upward.",
+    "Raise the smooth textured laptop using the left arm.",
+    "Use the left arm to open the silver laptop with black keyboard",
+    "Use the left arm to open the silver laptop with black keyboard.",
+    "Lift the silver laptop with foldable parts's lid upwards.",
+    "Lift the smooth textured laptop's lid using the left arm.",
+    "Pull the black screen laptop's lid upward.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Raise the silver laptop to expose the screen",
+    "Gently raise the silver laptop with foldable parts using the left arm.",
+    "Raise the black and silver laptop using the left arm.",
+    "Pull the silver laptop open with the left arm.",
+    "Lift the medium foldable silver laptop to open it up",
+    "Lift the medium foldable silver laptop to open.",
+    "Slide the black screen laptop open with the left arm.",
+    "Lift the smooth textured laptop slightly.",
+    "Hold the metal laptop steady, lift lid.",
+    "Open the silver laptop with foldable parts carefully with the left arm.",
+    "Pull the lid of the metal laptop upward.",
+    "Raise the top of the black and silver laptop",
+    "Open the smooth textured laptop entirely.",
+    "Pull the screen of the smooth textured laptop.",
+    "Gently open the silver laptop.",
+    "Raise the silver laptop with foldable parts using the left arm firmly.",
+    "Use the left arm to raise the black screen laptop.",
+    "Raise the lid of the metal laptop.",
+    "Pull the laptop with wood panel background upward lightly.",
+    "Raise and open the silver laptop.",
+    "Open the black screen laptop lifting with the left arm",
+    "Raise the black screen laptop lid with the left arm.",
+    "Use the left arm to open the metal laptop.",
+    "Lift and open the wood surrounded laptop.",
+    "Raise the smooth textured laptop's top section.",
+    "Push the black and silver laptop's lid upward using the left arm.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Gently lift the silver laptop with black keyboard using the left arm",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Use the left arm to raise the smooth textured laptop.",
+    "Fully open the black and silver laptop.",
+    "Raise the black and silver laptop lid using the left arm.",
+    "Pull open the black screen laptop",
+    "Lift the metal laptop lid completely.",
+    "Grip and lift the medium foldable silver laptop's lid.",
+    "Pull up the lid of the medium foldable silver laptop",
+    "Fully lift the medium foldable silver laptop using the left arm.",
+    "Lift the keyboard laptop open with the left arm.",
+    "With the left arm, open the black screen laptop's lid.",
+    "Carefully open the black screen laptop using the left arm",
+    "Use the left arm to lift the silver laptop with black keyboard",
+    "Open the silver laptop with foldable parts completely.",
+    "Gently open the wood surrounded laptop upward.",
+    "Raise the keyboard laptop using the left arm.",
+    "Use the left arm to open the silver laptop with foldable parts",
+    "Use the left arm to open the laptop with black textured screen.",
+    "Lift the keyboard laptop's lid upwards.",
+    "Lift the silver laptop with foldable parts's lid using the left arm.",
+    "Pull the keyboard laptop's lid upward.",
+    "Open the keyboard laptop by lifting its lid.",
+    "Raise the laptop with wood panel background to expose the screen",
+    "Gently raise the metal laptop using the left arm.",
+    "Raise the keyboard laptop using the left arm.",
+    "Pull the metal laptop open with the left arm.",
+    "Lift the silver laptop with foldable parts to open it up",
+    "Lift the metal laptop to open.",
+    "Slide the keyboard laptop open with the left arm.",
+    "Lift the smooth textured laptop slightly.",
+    "Hold the medium foldable silver laptop steady, lift lid.",
+    "Open the smooth textured laptop carefully with the left arm.",
+    "Pull the lid of the medium foldable silver laptop upward.",
+    "Raise the top of the black and silver laptop",
+    "Open the silver laptop with black keyboard entirely."
+  ],
+  "unseen": [
+    "Open the foldable laptop carefully using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000022.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..3631f698096c34f2339151fc28051ae2f2172e31
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000022.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the wood surrounded laptop open with the left arm.",
+    "Raise the laptop with wood panel background using the left arm firmly.",
+    "Slide the smooth textured laptop open with the left arm.",
+    "Carefully open the black screen laptop using the left arm",
+    "Gently open the keyboard laptop.",
+    "Open the black and silver laptop lifting with the left arm",
+    "Fully lift the metal laptop using the left arm.",
+    "Use the left arm to lift the metal laptop",
+    "Pull up the lid of the black and silver laptop",
+    "Use the left arm to open the black and silver laptop.",
+    "Lift and open the medium foldable silver laptop.",
+    "Gently lift the smooth textured laptop using the left arm",
+    "Lift the smooth textured laptop open with the left arm.",
+    "Use the left arm to open the metal laptop",
+    "Lift the black and silver laptop to open.",
+    "Lift the laptop with black textured screen's lid upwards.",
+    "Use the left arm to raise the smooth textured laptop.",
+    "Raise the top of the black screen laptop",
+    "Open the laptop with black textured screen completely.",
+    "Raise the medium foldable silver laptop to expose the screen",
+    "Grip and lift the black and silver laptop's lid.",
+    "With the left arm, open the laptop with wood panel background's lid.",
+    "Open the medium foldable silver laptop carefully with the left arm.",
+    "Raise the metal laptop's top section.",
+    "Raise the lid of the laptop with wood panel background.",
+    "Use the left arm to raise the wood surrounded laptop.",
+    "Use the left arm to raise the black screen laptop.",
+    "Gently raise the smooth textured laptop using the left arm.",
+    "Lift the laptop with wood panel background to open it up",
+    "Raise the keyboard laptop lid with the left arm.",
+    "Pull the lid of the medium foldable silver laptop upward.",
+    "Use the left arm to open the black and silver laptop.",
+    "Raise the laptop with wood panel background using the left arm.",
+    "Hold the silver laptop steady, lift lid.",
+    "Open the silver laptop with black keyboard entirely.",
+    "Open the laptop with wood panel background by lifting its lid.",
+    "Pull open the metal laptop",
+    "Fully open the wood surrounded laptop.",
+    "Raise and open the silver laptop with black keyboard.",
+    "Gently open the wood surrounded laptop upward.",
+    "Push the silver laptop with foldable parts's lid upward using the left arm.",
+    "Pull the metal laptop upward lightly.",
+    "Lift the keyboard laptop's lid using the left arm.",
+    "Use the left arm to open the metal laptop.",
+    "Raise the laptop with wood panel background lid using the left arm.",
+    "Lift the black screen laptop lid completely.",
+    "Raise the silver laptop using the left arm.",
+    "Lift the metal laptop slightly.",
+    "Pull the screen of the silver laptop.",
+    "Pull the smooth textured laptop's lid upward.",
+    "Pull the medium foldable silver laptop open with the left arm.",
+    "Raise the black and silver laptop using the left arm firmly.",
+    "Slide the silver laptop with foldable parts open with the left arm.",
+    "Carefully open the keyboard laptop using the left arm",
+    "Gently open the medium foldable silver laptop.",
+    "Open the laptop with wood panel background lifting with the left arm",
+    "Fully lift the black and silver laptop using the left arm.",
+    "Use the left arm to lift the wood surrounded laptop",
+    "Pull up the lid of the metal laptop",
+    "Use the left arm to open the silver laptop.",
+    "Lift and open the keyboard laptop.",
+    "Gently lift the smooth textured laptop using the left arm",
+    "Lift the wood surrounded laptop open with the left arm.",
+    "Use the left arm to open the keyboard laptop",
+    "Lift the wood surrounded laptop to open.",
+    "Lift the silver laptop with foldable parts's lid upwards.",
+    "Use the left arm to raise the medium foldable silver laptop.",
+    "Raise the top of the laptop with wood panel background",
+    "Open the laptop with wood panel background completely.",
+    "Raise the silver laptop with black keyboard to expose the screen",
+    "Grip and lift the silver laptop with foldable parts's lid.",
+    "With the left arm, open the black and silver laptop's lid.",
+    "Open the black and silver laptop carefully with the left arm.",
+    "Raise the smooth textured laptop's top section.",
+    "Raise the lid of the laptop with black textured screen.",
+    "Use the left arm to raise the silver laptop.",
+    "Use the left arm to raise the wood surrounded laptop.",
+    "Gently raise the silver laptop with black keyboard using the left arm.",
+    "Lift the keyboard laptop to open it up",
+    "Raise the black screen laptop lid with the left arm.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Use the left arm to open the silver laptop.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Hold the laptop with wood panel background steady, lift lid.",
+    "Open the smooth textured laptop entirely.",
+    "Open the wood surrounded laptop by lifting its lid.",
+    "Pull open the laptop with wood panel background",
+    "Fully open the silver laptop.",
+    "Raise and open the black screen laptop.",
+    "Gently open the silver laptop with foldable parts upward.",
+    "Push the keyboard laptop's lid upward using the left arm.",
+    "Pull the laptop with black textured screen upward lightly.",
+    "Lift the laptop with wood panel background's lid using the left arm.",
+    "Use the left arm to open the silver laptop with foldable parts.",
+    "Raise the silver laptop with foldable parts lid using the left arm.",
+    "Lift the wood surrounded laptop lid completely.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Lift the silver laptop slightly.",
+    "Pull the screen of the black and silver laptop.",
+    "Pull the black screen laptop's lid upward."
+  ],
+  "unseen": [
+    "Open the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the medium laptop with silver body's lid."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000023.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ced2ce0f5743ccb7cc940d15d9ac96774b733db
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000023.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to raise the portable black laptop with textured casing.",
+    "Carefully open the black laptop with metallic edges using the right arm",
+    "Pull the black laptop with metallic edges open with the right arm.",
+    "Open the laptop featuring black base and hinged screen completely.",
+    "Hold the laptop with glossy screen steady, lift lid.",
+    "Lift the portable black laptop with textured casing's lid upwards.",
+    "Raise the black laptop with Saturn image on screen using the right arm.",
+    "Use the right arm to open the black laptop with shiny display panel.",
+    "Pull up the lid of the laptop with glossy screen",
+    "Lift the laptop for typing and computing to open.",
+    "Use the right arm to raise the laptop for typing and computing.",
+    "Raise the medium-sized black portable laptop using the right arm.",
+    "Pull the laptop with glossy screen's lid upward.",
+    "Lift the black laptop with visible hinge's lid using the right arm.",
+    "Raise and open the medium-sized black portable laptop.",
+    "Gently lift the black laptop with Saturn image on screen using the right arm",
+    "Lift the medium-sized black portable laptop lid completely.",
+    "Lift the laptop with flat black keyboard slightly.",
+    "Gently open the black laptop.",
+    "Raise the black laptop lid using the right arm.",
+    "Pull the smooth laptop with Windows logo underneath upward lightly.",
+    "Pull open the black laptop",
+    "Use the right arm to open the black laptop.",
+    "Slide the laptop for typing and computing open with the right arm.",
+    "Use the right arm to open the medium-sized black portable laptop",
+    "Gently open the laptop for typing and computing upward.",
+    "Open the black laptop with visible hinge entirely.",
+    "Open the laptop with flat black keyboard by lifting its lid.",
+    "Use the right arm to lift the black laptop with shiny display panel",
+    "Lift the laptop featuring black base and hinged screen to open it up",
+    "Raise the black laptop with Saturn image on screen to expose the screen",
+    "Fully lift the smooth laptop with Windows logo underneath using the right arm.",
+    "Raise the laptop for typing and computing's top section.",
+    "Fully open the laptop featuring black base and hinged screen.",
+    "Use the right arm to raise the medium-sized black portable laptop.",
+    "Open the laptop with flat black keyboard carefully with the right arm.",
+    "Raise the laptop with flat black keyboard using the right arm firmly.",
+    "Pull the screen of the laptop with glossy screen.",
+    "Pull the lid of the black laptop with Saturn image on screen upward.",
+    "Gently raise the smooth laptop with Windows logo underneath using the right arm.",
+    "Push the black laptop with visible hinge's lid upward using the right arm.",
+    "Use the right arm to open the black laptop.",
+    "Raise the black laptop with Saturn image on screen lid with the right arm.",
+    "Open the smooth laptop with Windows logo underneath lifting with the right arm",
+    "Lift the laptop for typing and computing open with the right arm.",
+    "Grip and lift the black laptop's lid.",
+    "Raise the lid of the portable black laptop with textured casing.",
+    "Lift and open the smooth laptop with Windows logo underneath.",
+    "With the right arm, open the laptop for typing and computing's lid.",
+    "Raise the top of the black laptop with shiny display panel",
+    "Use the right arm to raise the smooth laptop with Windows logo underneath.",
+    "Carefully open the smooth laptop with Windows logo underneath using the right arm",
+    "Pull the medium-sized black portable laptop open with the right arm.",
+    "Open the medium-sized black portable laptop completely.",
+    "Hold the black laptop steady, lift lid.",
+    "Lift the laptop for typing and computing's lid upwards.",
+    "Raise the laptop for typing and computing using the right arm.",
+    "Use the right arm to open the black laptop with visible hinge.",
+    "Pull up the lid of the black laptop with visible hinge",
+    "Lift the laptop for typing and computing to open.",
+    "Use the right arm to raise the laptop with flat black keyboard.",
+    "Raise the laptop featuring black base and hinged screen using the right arm.",
+    "Pull the black laptop's lid upward.",
+    "Lift the laptop with flat black keyboard's lid using the right arm.",
+    "Raise and open the laptop with flat black keyboard.",
+    "Gently lift the black laptop using the right arm",
+    "Lift the black laptop with visible hinge lid completely.",
+    "Lift the laptop featuring black base and hinged screen slightly.",
+    "Gently open the smooth laptop with Windows logo underneath.",
+    "Raise the black laptop with metallic edges lid using the right arm.",
+    "Pull the black laptop with Saturn image on screen upward lightly.",
+    "Pull open the black laptop with visible hinge",
+    "Use the right arm to open the smooth laptop with Windows logo underneath.",
+    "Slide the laptop for typing and computing open with the right arm.",
+    "Use the right arm to open the laptop with glossy screen",
+    "Gently open the smooth laptop with Windows logo underneath upward.",
+    "Open the portable black laptop with textured casing entirely.",
+    "Open the smooth laptop with Windows logo underneath by lifting its lid.",
+    "Use the right arm to lift the laptop featuring black base and hinged screen",
+    "Lift the black laptop with shiny display panel to open it up",
+    "Raise the black laptop to expose the screen",
+    "Fully lift the laptop for typing and computing using the right arm.",
+    "Raise the medium-sized black portable laptop's top section.",
+    "Fully open the portable black laptop with textured casing.",
+    "Use the right arm to raise the portable black laptop with textured casing.",
+    "Open the black laptop with metallic edges carefully with the right arm.",
+    "Raise the medium-sized black portable laptop using the right arm firmly.",
+    "Pull the screen of the laptop for typing and computing.",
+    "Pull the lid of the medium-sized black portable laptop upward.",
+    "Gently raise the laptop with glossy screen using the right arm.",
+    "Push the smooth laptop with Windows logo underneath's lid upward using the right arm.",
+    "Use the right arm to open the laptop with glossy screen.",
+    "Raise the portable black laptop with textured casing lid with the right arm.",
+    "Open the laptop with flat black keyboard lifting with the right arm",
+    "Lift the laptop for typing and computing open with the right arm.",
+    "Grip and lift the medium-sized black portable laptop's lid.",
+    "Raise the lid of the black laptop with Saturn image on screen.",
+    "Lift and open the portable black laptop with textured casing.",
+    "With the right arm, open the medium-sized black portable laptop's lid.",
+    "Raise the top of the black laptop with Saturn image on screen"
+  ],
+  "unseen": [
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Open the thin rectangular laptop with care",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Open the laptop with colorful screen with care",
+    "Pull up the thin rectangular laptop's lid.",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Open the laptop with colorful screen with care",
+    "Pull up the thin rectangular laptop's lid.",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Open the thin rectangular laptop with care",
+    "Pull up the thin rectangular laptop's lid.",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Open the laptop with colorful screen with care",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Open the thin rectangular laptop with care",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the laptop with colorful screen with care",
+    "Pull up the laptop with colorful screen's lid.",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the thin rectangular laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000024.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..c71fa0218150f152893a255c60d03c264889f8d5
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000024.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Fully lift the laptop with shiny black surface using the right arm.",
+    "Lift the black laptop with smooth body lid completely.",
+    "Use the right arm to lift the black and silver portable laptop",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Pull the screen of the laptop with rectangular display screen.",
+    "Pull up the lid of the laptop with shiny black surface",
+    "Open the rectangular laptop with smooth texture entirely.",
+    "Raise the black laptop lid with the right arm.",
+    "Raise the top of the clamshell laptop with flat screen",
+    "Use the right arm to open the laptop featuring built-in keyboard",
+    "Raise the clamshell laptop with flat screen using the right arm firmly.",
+    "Pull the lid of the black laptop with smooth body upward.",
+    "Grip and lift the laptop with rectangular display screen's lid.",
+    "Raise and open the black laptop.",
+    "Open the laptop with wide black lid by lifting its lid.",
+    "Lift the laptop featuring built-in keyboard's lid using the right arm.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Open the rectangular laptop with smooth texture carefully with the right arm.",
+    "Open the rectangular laptop with folding hinge completely.",
+    "Carefully open the clamshell laptop with flat screen using the right arm",
+    "Lift the laptop with rectangular display screen slightly.",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Use the right arm to raise the laptop with silver buttons on keyboard.",
+    "Pull open the laptop with silver buttons on keyboard",
+    "Pull the rectangular laptop with smooth texture open with the right arm.",
+    "Gently open the rectangular laptop with smooth texture.",
+    "Gently lift the laptop with wide black lid using the right arm",
+    "Lift the clamshell laptop with flat screen's lid upwards.",
+    "Lift the black laptop to open.",
+    "Lift the laptop with silver buttons on keyboard open with the right arm.",
+    "Use the right arm to open the black and silver portable laptop.",
+    "Pull the laptop with rectangular display screen's lid upward.",
+    "Open the rectangular laptop with smooth texture lifting with the right arm",
+    "Lift the clamshell laptop with flat screen to open it up",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Gently open the laptop with wide black lid upward.",
+    "With the right arm, open the laptop featuring built-in keyboard's lid.",
+    "Pull the black laptop with smooth body upward lightly.",
+    "Slide the black and silver portable laptop open with the right arm.",
+    "Raise the lid of the laptop with rectangular display screen.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Fully open the laptop with rectangular display screen.",
+    "Hold the black and silver portable laptop steady, lift lid.",
+    "Gently raise the black laptop using the right arm.",
+    "Raise the laptop with wide black lid lid using the right arm.",
+    "Lift and open the black and silver portable laptop.",
+    "Raise the laptop featuring built-in keyboard using the right arm.",
+    "Raise the clamshell laptop with flat screen's top section.",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Use the right arm to open the black laptop.",
+    "Fully lift the black laptop with smooth body using the right arm.",
+    "Lift the clamshell laptop with flat screen lid completely.",
+    "Use the right arm to lift the laptop with shiny black surface",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Pull the screen of the black and silver portable laptop.",
+    "Pull up the lid of the rectangular laptop with folding hinge",
+    "Open the laptop with shiny black surface entirely.",
+    "Raise the laptop featuring built-in keyboard lid with the right arm.",
+    "Raise the top of the black and silver portable laptop",
+    "Use the right arm to open the rectangular laptop with smooth texture",
+    "Raise the laptop with shiny black surface using the right arm firmly.",
+    "Pull the lid of the rectangular laptop with folding hinge upward.",
+    "Grip and lift the black laptop with smooth body's lid.",
+    "Raise and open the laptop with silver buttons on keyboard.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Lift the laptop with wide black lid's lid using the right arm.",
+    "Raise the black laptop using the right arm.",
+    "Open the laptop with shiny black surface carefully with the right arm.",
+    "Open the clamshell laptop with flat screen completely.",
+    "Carefully open the laptop with wide black lid using the right arm",
+    "Lift the laptop with shiny black surface slightly.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Pull open the black laptop with smooth body",
+    "Pull the laptop with rectangular display screen open with the right arm.",
+    "Gently open the clamshell laptop with flat screen.",
+    "Gently lift the laptop with wide black lid using the right arm",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Lift the black laptop with smooth body to open.",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Use the right arm to open the laptop with silver buttons on keyboard.",
+    "Pull the black laptop with smooth body's lid upward.",
+    "Open the laptop with wide black lid lifting with the right arm",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Push the clamshell laptop with flat screen's lid upward using the right arm.",
+    "Gently open the black and silver portable laptop upward.",
+    "With the right arm, open the laptop with wide black lid's lid.",
+    "Pull the laptop with shiny black surface upward lightly.",
+    "Slide the clamshell laptop with flat screen open with the right arm.",
+    "Raise the lid of the black and silver portable laptop.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Fully open the laptop featuring built-in keyboard.",
+    "Hold the black and silver portable laptop steady, lift lid.",
+    "Gently raise the laptop with silver buttons on keyboard using the right arm.",
+    "Raise the black laptop lid using the right arm.",
+    "Lift and open the rectangular laptop with folding hinge.",
+    "Raise the laptop with silver buttons on keyboard using the right arm.",
+    "Raise the clamshell laptop with flat screen's top section.",
+    "Raise the laptop with silver keyboard to expose the screen"
+  ],
+  "unseen": [
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the medium laptop with black case's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000025.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f11897fee590fb968c460aa3a0467f8f5ce7212
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000025.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to open the metal laptop with black keys",
+    "Open the portable slim laptop lifting with the left arm",
+    "Use the left arm to raise the portable slim laptop.",
+    "Raise the top of the silver laptop with dark keys",
+    "Lift the laptop with foldable screen design slightly.",
+    "Raise the lid of the silver laptop with dark keys.",
+    "Use the left arm to raise the metal laptop with black keys.",
+    "With the left arm, open the slim laptop's lid.",
+    "Open the slim laptop entirely.",
+    "Push the laptop with smooth surface's lid upward using the left arm.",
+    "Gently raise the compact silver laptop using the left arm.",
+    "Pull open the slim laptop",
+    "Pull the slim laptop's lid upward.",
+    "Gently open the laptop with metallic finish.",
+    "Raise the portable slim laptop to expose the screen",
+    "Raise the laptop with smooth surface using the left arm.",
+    "Lift the compact silver laptop's lid upwards.",
+    "Open the portable slim laptop carefully with the left arm.",
+    "Lift the metal laptop with black keys to open.",
+    "Carefully open the rectangular laptop with screen using the left arm",
+    "Fully open the silver laptop with dark keys.",
+    "Open the rectangular laptop with screen completely.",
+    "Raise the portable slim laptop using the left arm.",
+    "Pull up the lid of the laptop with black keyboard",
+    "Use the left arm to raise the metal laptop with black keys.",
+    "Lift the laptop with black keyboard to open it up",
+    "Pull the screen of the laptop with metallic finish.",
+    "Raise the silver laptop with dark keys lid with the left arm.",
+    "Raise the slim laptop using the left arm firmly.",
+    "Lift and open the silver laptop with dark keys.",
+    "Lift the medium-sized silver laptop lid completely.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Lift the slim laptop open with the left arm.",
+    "Use the left arm to open the slim laptop.",
+    "Pull the lid of the laptop with black keyboard upward.",
+    "Fully lift the laptop with foldable screen design using the left arm.",
+    "Raise the compact silver laptop's top section.",
+    "Raise the laptop with foldable screen design lid using the left arm.",
+    "Grip and lift the silver laptop with dark keys's lid.",
+    "Slide the laptop with metallic finish open with the left arm.",
+    "Gently lift the laptop with smooth surface using the left arm",
+    "Raise and open the laptop with metallic finish.",
+    "Open the laptop with black keyboard by lifting its lid.",
+    "Pull the lightweight silver laptop open with the left arm.",
+    "Lift the laptop with black keyboard's lid using the left arm.",
+    "Use the left arm to lift the laptop with foldable screen design",
+    "Hold the laptop with metallic finish steady, lift lid.",
+    "Pull the laptop with metallic finish upward lightly.",
+    "Use the left arm to open the laptop with metallic finish.",
+    "Gently open the laptop with smooth surface upward.",
+    "Use the left arm to open the medium-sized silver laptop",
+    "Open the compact silver laptop lifting with the left arm",
+    "Use the left arm to raise the rectangular laptop with screen.",
+    "Raise the top of the laptop with foldable screen design",
+    "Lift the portable slim laptop slightly.",
+    "Raise the lid of the slim laptop.",
+    "Use the left arm to raise the lightweight silver laptop.",
+    "With the left arm, open the medium-sized silver laptop's lid.",
+    "Open the lightweight silver laptop entirely.",
+    "Push the medium-sized silver laptop's lid upward using the left arm.",
+    "Gently raise the laptop with black keyboard using the left arm.",
+    "Pull open the silver laptop with dark keys",
+    "Pull the laptop with foldable screen design's lid upward.",
+    "Gently open the laptop with metallic finish.",
+    "Raise the silver laptop with dark keys to expose the screen",
+    "Raise the compact silver laptop using the left arm.",
+    "Lift the metal laptop with black keys's lid upwards.",
+    "Open the slim laptop carefully with the left arm.",
+    "Lift the laptop with foldable screen design to open.",
+    "Carefully open the rectangular laptop with screen using the left arm",
+    "Fully open the laptop with smooth surface.",
+    "Open the rectangular laptop with screen completely.",
+    "Raise the medium-sized silver laptop using the left arm.",
+    "Pull up the lid of the laptop with metallic finish",
+    "Use the left arm to raise the compact silver laptop.",
+    "Lift the portable slim laptop to open it up",
+    "Pull the screen of the medium-sized silver laptop.",
+    "Raise the silver laptop with dark keys lid with the left arm.",
+    "Raise the silver laptop with dark keys using the left arm firmly.",
+    "Lift and open the silver laptop with dark keys.",
+    "Lift the lightweight silver laptop lid completely.",
+    "Use the left arm to open the portable slim laptop.",
+    "Lift the laptop with metallic finish open with the left arm.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Pull the lid of the laptop with foldable screen design upward.",
+    "Fully lift the silver laptop with dark keys using the left arm.",
+    "Raise the laptop with metallic finish's top section.",
+    "Raise the laptop with foldable screen design lid using the left arm.",
+    "Grip and lift the laptop with metallic finish's lid.",
+    "Slide the portable slim laptop open with the left arm.",
+    "Gently lift the slim laptop using the left arm",
+    "Raise and open the metal laptop with black keys.",
+    "Open the laptop with foldable screen design by lifting its lid.",
+    "Pull the laptop with metallic finish open with the left arm.",
+    "Lift the rectangular laptop with screen's lid using the left arm.",
+    "Use the left arm to lift the portable slim laptop",
+    "Hold the metal laptop with black keys steady, lift lid.",
+    "Pull the silver laptop with dark keys upward lightly.",
+    "Use the left arm to open the laptop with foldable screen design.",
+    "Gently open the silver laptop with dark keys upward."
+  ],
+  "unseen": [
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop using the left arm",
+    "Lift the silver laptop using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the silver laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop using the left arm",
+    "Lift the silver laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the silver laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the silver laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the silver laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Lift the silver laptop using the left arm",
+    "Lift the silver laptop using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Open the foldable laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop with care",
+    "Grab the silver laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Open the silver laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the folding laptop with black keyboard's lid."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000026.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..a04bd0f08251f6eef4da3ceef921423c4e764021
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000026.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the rectangular laptop with hinge to expose the screen",
+    "Use the right arm to open the laptop with smooth texture",
+    "Raise the lid of the laptop with smooth texture.",
+    "Gently raise the laptop featuring smooth metal finish using the right arm.",
+    "Use the right arm to lift the laptop with smooth texture",
+    "Raise the laptop with blue screen using the right arm.",
+    "Lift the rectangular laptop with hinge to open.",
+    "Use the right arm to raise the hinged laptop with display.",
+    "Pull open the laptop with silver base",
+    "Lift the laptop with silver base lid completely.",
+    "Hold the laptop with glass screen steady, lift lid.",
+    "Pull up the lid of the laptop with glass screen",
+    "Pull the laptop with silver base's lid upward.",
+    "Carefully open the rectangular laptop with hinge using the right arm",
+    "Lift the laptop with silver base's lid using the right arm.",
+    "Open the rectangular laptop with hinge carefully with the right arm.",
+    "Fully open the hinged laptop with display.",
+    "Open the blue-screen laptop lifting with the right arm",
+    "Use the right arm to open the laptop with silver base.",
+    "Slide the hinged laptop with display open with the right arm.",
+    "Lift the laptop with silver base's lid upwards.",
+    "Lift the laptop featuring smooth metal finish to open it up",
+    "Lift and open the rectangular laptop with hinge.",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Gently lift the medium-sized laptop using the right arm",
+    "Lift the blue-screen laptop slightly.",
+    "Gently open the laptop for computing.",
+    "With the right arm, open the laptop for computing's lid.",
+    "Push the medium-sized laptop's lid upward using the right arm.",
+    "Raise the laptop for computing lid with the right arm.",
+    "Pull the lid of the metallic laptop upward.",
+    "Raise and open the laptop with silver base.",
+    "Use the right arm to open the hinged laptop with display.",
+    "Lift the metallic laptop open with the right arm.",
+    "Fully lift the rectangular laptop with hinge using the right arm.",
+    "Raise the medium-sized laptop using the right arm firmly.",
+    "Pull the laptop with blue screen upward lightly.",
+    "Raise the blue-screen laptop's top section.",
+    "Raise the top of the blue-screen laptop",
+    "Gently open the portable silver laptop upward.",
+    "Open the laptop with silver base entirely.",
+    "Pull the laptop with smooth texture open with the right arm.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Use the right arm to open the laptop with glass screen.",
+    "Grip and lift the blue-screen laptop's lid.",
+    "Use the right arm to raise the laptop with smooth texture.",
+    "Pull the screen of the metallic laptop.",
+    "Open the laptop with silver base completely.",
+    "Open the medium-sized laptop by lifting its lid.",
+    "Use the right arm to raise the metallic laptop.",
+    "Raise the blue-screen laptop to expose the screen",
+    "Use the right arm to open the laptop with smooth texture",
+    "Raise the lid of the laptop with smooth texture.",
+    "Gently raise the laptop with blue screen using the right arm.",
+    "Use the right arm to lift the laptop with smooth texture",
+    "Raise the laptop with silver base using the right arm.",
+    "Lift the laptop with silver base to open.",
+    "Use the right arm to raise the portable silver laptop.",
+    "Pull open the rectangular laptop with hinge",
+    "Lift the laptop with glass screen lid completely.",
+    "Hold the portable silver laptop steady, lift lid.",
+    "Pull up the lid of the laptop with silver base",
+    "Pull the laptop with blue screen's lid upward.",
+    "Carefully open the laptop with silver base using the right arm",
+    "Lift the portable silver laptop's lid using the right arm.",
+    "Open the laptop for computing carefully with the right arm.",
+    "Fully open the portable silver laptop.",
+    "Open the hinged laptop with display lifting with the right arm",
+    "Use the right arm to open the laptop with blue screen.",
+    "Slide the hinged laptop with display open with the right arm.",
+    "Lift the laptop featuring smooth metal finish's lid upwards.",
+    "Lift the rectangular laptop with hinge to open it up",
+    "Lift and open the medium-sized laptop.",
+    "Raise the blue-screen laptop lid using the right arm.",
+    "Gently lift the laptop with glass screen using the right arm",
+    "Lift the metallic laptop slightly.",
+    "Gently open the laptop with smooth texture.",
+    "With the right arm, open the rectangular laptop with hinge's lid.",
+    "Push the laptop for computing's lid upward using the right arm.",
+    "Raise the rectangular laptop with hinge lid with the right arm.",
+    "Pull the lid of the laptop for computing upward.",
+    "Raise and open the laptop with smooth texture.",
+    "Use the right arm to open the laptop for computing.",
+    "Lift the medium-sized laptop open with the right arm.",
+    "Fully lift the blue-screen laptop using the right arm.",
+    "Raise the laptop with glass screen using the right arm firmly.",
+    "Pull the rectangular laptop with hinge upward lightly.",
+    "Raise the medium-sized laptop's top section.",
+    "Raise the top of the laptop with glass screen",
+    "Gently open the portable silver laptop upward.",
+    "Open the laptop with silver base entirely.",
+    "Pull the laptop with glass screen open with the right arm.",
+    "Raise the laptop featuring smooth metal finish using the right arm.",
+    "Use the right arm to open the laptop with silver base.",
+    "Grip and lift the laptop for computing's lid.",
+    "Use the right arm to raise the metallic laptop.",
+    "Pull the screen of the laptop with glass screen.",
+    "Open the blue-screen laptop completely.",
+    "Open the laptop featuring smooth metal finish by lifting its lid.",
+    "Use the right arm to raise the laptop with blue screen."
+  ],
+  "unseen": [
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop with one motion.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the compact silver laptop with one motion.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid gently.",
+    "Open the compact silver laptop with one motion.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the sleek laptop with care",
+    "Lift the silver laptop using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the sleek laptop with one motion.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop with one motion.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the sleek laptop with care",
+    "Lift the sleek laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the sleek laptop with one motion.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the sleek laptop with care",
+    "Lift the sleek laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop with one motion.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the sleek laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the sleek laptop with one motion.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the silver laptop with care",
+    "Lift the silver laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop with one motion.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop with one motion.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the sleek laptop with care",
+    "Lift the compact silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000027.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..78cda98477e61be87c606e10021358c1ec6f944a
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000027.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the top of the matte laptop with smooth screen",
+    "Open the compact black and silver computer entirely.",
+    "Slide the compact black and silver computer open with the left arm.",
+    "Raise the compact black and silver computer's top section.",
+    "Raise the lid of the medium-sized laptop.",
+    "With the left arm, open the silver keyboard laptop's lid.",
+    "Use the left arm to open the compact black and silver computer.",
+    "Use the left arm to raise the Toshiba laptop with folding design.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Pull the compact black and silver computer open with the left arm.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Pull open the rectangular laptop with Toshiba logo",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Push the matte laptop with smooth screen's lid upward using the left arm.",
+    "Use the left arm to raise the silver keyboard laptop.",
+    "Raise and open the device with flat keyboard and screen.",
+    "Lift the rectangular laptop with Toshiba logo open with the left arm.",
+    "Raise the device with flat keyboard and screen using the left arm.",
+    "Raise the laptop with silver keyboard lid using the left arm.",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Fully open the silver keyboard laptop.",
+    "Hold the silver keyboard laptop steady, lift lid.",
+    "Lift the folding laptop with screen and keyboard's lid using the left arm.",
+    "Pull the black laptop with reflective screen's lid upward.",
+    "Use the left arm to raise the black laptop with reflective screen.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Pull the device with flat keyboard and screen upward lightly.",
+    "Open the compact black and silver computer carefully with the left arm.",
+    "Raise the black laptop with reflective screen using the left arm.",
+    "Gently raise the compact black and silver computer using the left arm.",
+    "Raise the black and silver laptop to expose the screen",
+    "Lift the laptop with silver keyboard slightly.",
+    "Raise the matte laptop with smooth screen using the left arm firmly.",
+    "Carefully open the black and silver laptop using the left arm",
+    "Raise the rectangular laptop with Toshiba logo lid with the left arm.",
+    "Fully lift the medium-sized laptop using the left arm.",
+    "Pull the lid of the rectangular laptop with Toshiba logo upward.",
+    "Open the device with flat keyboard and screen lifting with the left arm",
+    "Use the left arm to lift the laptop with silver keyboard",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Lift the medium-sized laptop lid completely.",
+    "Gently lift the medium-sized laptop using the left arm",
+    "Lift the portable folding laptop to open it up",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Open the device with flat keyboard and screen completely.",
+    "Lift the laptop with silver keyboard to open.",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo",
+    "Raise the top of the laptop with silver keyboard",
+    "Open the matte laptop with smooth screen entirely.",
+    "Slide the black laptop with reflective screen open with the left arm.",
+    "Raise the silver keyboard laptop's top section.",
+    "Raise the lid of the black laptop with reflective screen.",
+    "With the left arm, open the medium-sized laptop's lid.",
+    "Use the left arm to open the black and silver laptop.",
+    "Use the left arm to raise the Toshiba laptop with folding design.",
+    "Lift and open the matte laptop with smooth screen.",
+    "Pull the medium-sized laptop open with the left arm.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Pull open the rectangular laptop with Toshiba logo",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Push the device with flat keyboard and screen's lid upward using the left arm.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Raise and open the silver keyboard laptop.",
+    "Lift the device with flat keyboard and screen open with the left arm.",
+    "Raise the device with flat keyboard and screen using the left arm.",
+    "Raise the laptop with silver keyboard lid using the left arm.",
+    "Pull the screen of the black and silver laptop.",
+    "Gently open the portable folding laptop upward.",
+    "Fully open the silver keyboard laptop.",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Lift the device with flat keyboard and screen's lid using the left arm.",
+    "Pull the portable folding laptop's lid upward.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Pull up the lid of the medium-sized laptop",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Open the silver keyboard laptop carefully with the left arm.",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Gently raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Raise the Toshiba laptop with folding design to expose the screen",
+    "Lift the black and silver laptop slightly.",
+    "Raise the matte laptop with smooth screen using the left arm firmly.",
+    "Carefully open the black and silver laptop using the left arm",
+    "Raise the medium-sized laptop lid with the left arm.",
+    "Fully lift the silver keyboard laptop using the left arm.",
+    "Pull the lid of the silver keyboard laptop upward.",
+    "Open the matte laptop with smooth screen lifting with the left arm",
+    "Use the left arm to lift the silver keyboard laptop",
+    "Gently open the laptop with silver keyboard.",
+    "Lift the portable folding laptop lid completely.",
+    "Gently lift the black and silver laptop using the left arm",
+    "Lift the portable folding laptop to open it up",
+    "Use the left arm to open the device with flat keyboard and screen.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Open the portable folding laptop completely.",
+    "Lift the portable folding laptop to open.",
+    "Lift the compact black and silver computer's lid upwards.",
+    "Use the left arm to open the medium-sized laptop"
+  ],
+  "unseen": [
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer using the left arm.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer using the left arm.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen using the left arm.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer with one motion.",
+    "Open the computer with black screen using the left arm.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer using the left arm.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen using the left arm.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the laptop computer's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000028.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..48e335198b8ecfed18983774ca58faba26532655
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000028.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully lift the foldable laptop with screen using the left arm.",
+    "Open the rectangular laptop with foldable hinge by lifting its lid.",
+    "Use the left arm to open the portable laptop",
+    "Pull up the lid of the blue bottom foldable black laptop",
+    "Raise and open the blue bottom foldable black laptop.",
+    "Use the left arm to raise the medium-sized laptop for work.",
+    "Raise the black laptop with blue bottom panel to expose the screen",
+    "Raise the laptop for browsing and computing using the left arm.",
+    "Pull the screen of the black laptop with sharp rectangular edges.",
+    "Lift the black laptop with sharp rectangular edges lid completely.",
+    "Hold the rectangular laptop with foldable hinge steady, lift lid.",
+    "Lift the black laptop with sharp rectangular edges to open it up",
+    "Pull the medium-sized laptop for work open with the left arm.",
+    "Open the black laptop with blue bottom panel lifting with the left arm",
+    "Raise the blue bottom foldable black laptop's top section.",
+    "Gently open the blue bottom foldable black laptop.",
+    "Pull the blue base black lid laptop upward lightly.",
+    "Use the left arm to raise the black laptop with sharp rectangular edges.",
+    "Push the black laptop with blue bottom panel's lid upward using the left arm.",
+    "Gently lift the blue bottom foldable black laptop using the left arm",
+    "Raise the top of the black laptop with sharp rectangular edges",
+    "Raise the blue bottom foldable black laptop lid using the left arm.",
+    "Use the left arm to open the medium-sized laptop for work.",
+    "Gently open the portable laptop upward.",
+    "Fully open the medium-sized laptop for work.",
+    "Grip and lift the laptop for browsing and computing's lid.",
+    "Raise the medium-sized laptop for work using the left arm firmly.",
+    "Carefully open the medium-sized laptop for work using the left arm",
+    "Raise the lid of the compact black laptop.",
+    "Lift the portable laptop's lid upwards.",
+    "Pull open the blue-black laptop",
+    "Use the left arm to lift the laptop for browsing and computing",
+    "Open the compact black laptop entirely.",
+    "Use the left arm to open the foldable laptop with screen.",
+    "Gently raise the black laptop with sharp rectangular edges using the left arm.",
+    "Pull the lid of the blue base black lid laptop upward.",
+    "With the left arm, open the black laptop with blue bottom panel's lid.",
+    "Lift the black-and-blue laptop with keyboard's lid using the left arm.",
+    "Lift the blue-black laptop open with the left arm.",
+    "Lift the black laptop with blue bottom panel to open.",
+    "Open the black-and-blue laptop with keyboard carefully with the left arm.",
+    "Raise the blue-black laptop lid with the left arm.",
+    "Open the medium-sized laptop for work completely.",
+    "Pull the rectangular laptop with foldable hinge's lid upward.",
+    "Raise the black laptop with sharp rectangular edges using the left arm.",
+    "Use the left arm to raise the foldable laptop with screen.",
+    "Use the left arm to open the medium-sized laptop for work.",
+    "Lift and open the compact black laptop.",
+    "Slide the black laptop with sharp rectangular edges open with the left arm.",
+    "Lift the compact black laptop slightly.",
+    "Fully lift the foldable laptop with screen using the left arm.",
+    "Open the blue base black lid laptop by lifting its lid.",
+    "Use the left arm to open the black-and-blue laptop with keyboard",
+    "Pull up the lid of the black laptop with sharp rectangular edges",
+    "Raise and open the black-and-blue laptop with keyboard.",
+    "Use the left arm to raise the black laptop with sharp rectangular edges.",
+    "Raise the laptop for browsing and computing to expose the screen",
+    "Raise the blue-black laptop using the left arm.",
+    "Pull the screen of the blue bottom foldable black laptop.",
+    "Lift the black laptop with sharp rectangular edges lid completely.",
+    "Hold the portable laptop steady, lift lid.",
+    "Lift the black laptop with blue bottom panel to open it up",
+    "Pull the foldable laptop with screen open with the left arm.",
+    "Open the blue bottom foldable black laptop lifting with the left arm",
+    "Raise the blue base black lid laptop's top section.",
+    "Gently open the black-and-blue laptop with keyboard.",
+    "Pull the blue bottom foldable black laptop upward lightly.",
+    "Use the left arm to raise the blue-black laptop.",
+    "Push the blue-black laptop's lid upward using the left arm.",
+    "Gently lift the blue-black laptop using the left arm",
+    "Raise the top of the black laptop with sharp rectangular edges",
+    "Raise the blue bottom foldable black laptop lid using the left arm.",
+    "Use the left arm to open the blue base black lid laptop.",
+    "Gently open the rectangular laptop with foldable hinge upward.",
+    "Fully open the laptop for browsing and computing.",
+    "Grip and lift the blue bottom foldable black laptop's lid.",
+    "Raise the black-and-blue laptop with keyboard using the left arm firmly.",
+    "Carefully open the foldable laptop with screen using the left arm",
+    "Raise the lid of the laptop for browsing and computing.",
+    "Lift the foldable laptop with screen's lid upwards.",
+    "Pull open the compact black laptop",
+    "Use the left arm to lift the black-and-blue laptop with keyboard",
+    "Open the blue base black lid laptop entirely.",
+    "Use the left arm to open the portable laptop.",
+    "Gently raise the portable laptop using the left arm.",
+    "Pull the lid of the black-and-blue laptop with keyboard upward.",
+    "With the left arm, open the blue-black laptop's lid.",
+    "Lift the blue base black lid laptop's lid using the left arm.",
+    "Lift the black-and-blue laptop with keyboard open with the left arm.",
+    "Lift the foldable laptop with screen to open.",
+    "Open the blue-black laptop carefully with the left arm.",
+    "Raise the medium-sized laptop for work lid with the left arm.",
+    "Open the black laptop with blue bottom panel completely.",
+    "Pull the rectangular laptop with foldable hinge's lid upward.",
+    "Raise the black-and-blue laptop with keyboard using the left arm.",
+    "Use the left arm to raise the foldable laptop with screen.",
+    "Use the left arm to open the foldable laptop with screen.",
+    "Lift and open the laptop for browsing and computing.",
+    "Slide the foldable laptop with screen open with the left arm.",
+    "Lift the black-and-blue laptop with keyboard slightly."
+  ],
+  "unseen": [
+    "Lift the black laptop's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the black laptop using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop using the left arm.",
+    "Open the black laptop with one motion.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the black laptop's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the black laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the black laptop and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the black laptop with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the black laptop's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the black laptop with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the black laptop with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Grab the black laptop and open it.",
+    "Lift the black laptop's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the black laptop with care",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Open the black laptop with care",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the black laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the smooth black plastic laptop and open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000029.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..4456a4487efe8a7022b1bcd237e6c2f74fb8c33d
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000029.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the black and silver laptop's top section.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Use the left arm to lift the wood surrounded laptop",
+    "Raise and open the wood surrounded laptop.",
+    "Open the metal laptop by lifting its lid.",
+    "Lift the medium foldable silver laptop lid completely.",
+    "Fully lift the keyboard laptop using the left arm.",
+    "Pull the lid of the medium foldable silver laptop upward.",
+    "Push the laptop with black textured screen's lid upward using the left arm.",
+    "Open the silver laptop with foldable parts completely.",
+    "Raise the silver laptop with black keyboard lid using the left arm.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Raise the black and silver laptop lid with the left arm.",
+    "Lift and open the smooth textured laptop.",
+    "Open the medium foldable silver laptop entirely.",
+    "Gently raise the keyboard laptop using the left arm.",
+    "Use the left arm to raise the black screen laptop.",
+    "Use the left arm to raise the silver laptop with black keyboard.",
+    "Lift the metal laptop slightly.",
+    "Pull the smooth textured laptop open with the left arm.",
+    "Hold the metal laptop steady, lift lid.",
+    "Use the left arm to raise the metal laptop.",
+    "Open the silver laptop with foldable parts lifting with the left arm",
+    "Pull up the lid of the silver laptop with black keyboard",
+    "Pull open the smooth textured laptop",
+    "Raise the lid of the black screen laptop.",
+    "Use the left arm to open the smooth textured laptop.",
+    "Gently open the black screen laptop upward.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Pull the black and silver laptop's lid upward.",
+    "Carefully open the metal laptop using the left arm",
+    "Lift the keyboard laptop open with the left arm.",
+    "Grip and lift the medium foldable silver laptop's lid.",
+    "Use the left arm to open the smooth textured laptop",
+    "Slide the silver laptop with foldable parts open with the left arm.",
+    "Gently lift the silver laptop with black keyboard using the left arm",
+    "Fully open the silver laptop with foldable parts.",
+    "Raise the top of the laptop with black textured screen",
+    "Lift the silver laptop to open it up",
+    "Raise the metal laptop to expose the screen",
+    "Pull the screen of the medium foldable silver laptop.",
+    "Lift the laptop with wood panel background's lid using the left arm.",
+    "Raise the black screen laptop using the left arm.",
+    "Lift the silver laptop with foldable parts to open.",
+    "With the left arm, open the keyboard laptop's lid.",
+    "Gently open the wood surrounded laptop.",
+    "Pull the smooth textured laptop upward lightly.",
+    "Raise the silver laptop using the left arm firmly.",
+    "Open the medium foldable silver laptop carefully with the left arm.",
+    "Use the left arm to open the keyboard laptop.",
+    "Raise the black and silver laptop's top section.",
+    "Lift the wood surrounded laptop's lid upwards.",
+    "Use the left arm to lift the black screen laptop",
+    "Raise and open the wood surrounded laptop.",
+    "Open the laptop with wood panel background by lifting its lid.",
+    "Lift the metal laptop lid completely.",
+    "Fully lift the medium foldable silver laptop using the left arm.",
+    "Pull the lid of the keyboard laptop upward.",
+    "Push the keyboard laptop's lid upward using the left arm.",
+    "Open the black screen laptop completely.",
+    "Raise the wood surrounded laptop lid using the left arm.",
+    "Use the left arm to open the laptop with wood panel background.",
+    "Raise the metal laptop lid with the left arm.",
+    "Lift and open the black screen laptop.",
+    "Open the silver laptop with foldable parts entirely.",
+    "Gently raise the laptop with wood panel background using the left arm.",
+    "Use the left arm to raise the silver laptop.",
+    "Use the left arm to raise the silver laptop with black keyboard.",
+    "Lift the keyboard laptop slightly.",
+    "Pull the medium foldable silver laptop open with the left arm.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Use the left arm to raise the metal laptop.",
+    "Open the laptop with black textured screen lifting with the left arm",
+    "Pull up the lid of the silver laptop",
+    "Pull open the silver laptop with foldable parts",
+    "Raise the lid of the keyboard laptop.",
+    "Use the left arm to open the black screen laptop.",
+    "Gently open the laptop with black textured screen upward.",
+    "Raise the wood surrounded laptop using the left arm.",
+    "Pull the silver laptop with black keyboard's lid upward.",
+    "Carefully open the silver laptop with black keyboard using the left arm",
+    "Lift the smooth textured laptop open with the left arm.",
+    "Grip and lift the medium foldable silver laptop's lid.",
+    "Use the left arm to open the smooth textured laptop",
+    "Slide the keyboard laptop open with the left arm.",
+    "Gently lift the black and silver laptop using the left arm",
+    "Fully open the laptop with black textured screen.",
+    "Raise the top of the laptop with wood panel background",
+    "Lift the laptop with wood panel background to open it up",
+    "Raise the silver laptop to expose the screen",
+    "Pull the screen of the keyboard laptop.",
+    "Lift the black and silver laptop's lid using the left arm.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Lift the silver laptop with black keyboard to open.",
+    "With the left arm, open the silver laptop with black keyboard's lid.",
+    "Gently open the wood surrounded laptop.",
+    "Pull the laptop with black textured screen upward lightly.",
+    "Raise the wood surrounded laptop using the left arm firmly.",
+    "Open the black and silver laptop carefully with the left arm.",
+    "Use the left arm to open the wood surrounded laptop."
+  ],
+  "unseen": [
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000030.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fe45c739f13178c14cee2fecc6981f344c19097
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000030.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the rectangular laptop with orange body lid using the left arm.",
+    "Use the left arm to raise the thin portable laptop.",
+    "Raise the lid of the blue screen foldable laptop.",
+    "Use the left arm to lift the rectangular laptop with orange body",
+    "Raise the thin portable laptop to expose the screen",
+    "Lift the hinged screen laptop to open it up",
+    "Raise the laptop with folding lid lid with the left arm.",
+    "Use the left arm to raise the medium rectangular orange laptop.",
+    "Push the plastic orange laptop with metal parts's lid upward using the left arm.",
+    "Fully lift the laptop with folding lid using the left arm.",
+    "Raise the laptop with folding lid using the left arm firmly.",
+    "Raise and open the blue screen foldable laptop.",
+    "Carefully open the laptop with blue screen using the left arm",
+    "Raise the blue screen portable laptop using the left arm.",
+    "Pull open the blue screen portable laptop",
+    "Lift and open the medium rectangular orange laptop.",
+    "Open the foldable laptop by lifting its lid.",
+    "Use the left arm to open the blue screen foldable laptop",
+    "Pull the screen of the medium rectangular orange laptop.",
+    "With the left arm, open the rectangular laptop with orange body's lid.",
+    "Pull the lid of the orange laptop upward.",
+    "Lift the hinged screen laptop's lid using the left arm.",
+    "Fully open the hinged screen laptop.",
+    "Pull the laptop with folding lid upward lightly.",
+    "Gently lift the hinged screen laptop using the left arm",
+    "Gently open the blue screen foldable laptop.",
+    "Use the left arm to open the laptop with folding lid.",
+    "Open the plastic orange laptop with metal parts lifting with the left arm",
+    "Pull up the lid of the hinged screen laptop",
+    "Gently open the blue screen portable laptop upward.",
+    "Raise the blue screen foldable laptop using the left arm.",
+    "Open the blue screen foldable laptop entirely.",
+    "Raise the thin portable laptop's top section.",
+    "Grip and lift the medium rectangular orange laptop's lid.",
+    "Open the thin portable laptop completely.",
+    "Lift the plastic orange laptop with metal parts's lid upwards.",
+    "Pull the foldable laptop open with the left arm.",
+    "Gently raise the medium rectangular orange laptop using the left arm.",
+    "Use the left arm to raise the foldable laptop.",
+    "Hold the foldable laptop steady, lift lid.",
+    "Use the left arm to open the blue screen portable laptop.",
+    "Lift the orange laptop to open.",
+    "Lift the hinged screen laptop lid completely.",
+    "Pull the rectangular laptop with orange body's lid upward.",
+    "Lift the blue screen foldable laptop open with the left arm.",
+    "Use the left arm to open the medium rectangular orange laptop.",
+    "Lift the orange laptop slightly.",
+    "Slide the rectangular laptop with orange body open with the left arm.",
+    "Open the hinged screen laptop carefully with the left arm.",
+    "Raise the top of the laptop with folding lid",
+    "Raise the laptop with black hinge area lid using the left arm.",
+    "Use the left arm to raise the hinged screen laptop.",
+    "Raise the lid of the orange laptop.",
+    "Use the left arm to lift the orange laptop",
+    "Raise the foldable laptop to expose the screen",
+    "Lift the laptop with black hinge area to open it up",
+    "Raise the hinged screen laptop lid with the left arm.",
+    "Use the left arm to raise the orange laptop.",
+    "Push the blue screen portable laptop's lid upward using the left arm.",
+    "Fully lift the blue screen portable laptop using the left arm.",
+    "Raise the foldable laptop using the left arm firmly.",
+    "Raise and open the laptop with black hinge area.",
+    "Carefully open the plastic orange laptop with metal parts using the left arm",
+    "Raise the medium rectangular orange laptop using the left arm.",
+    "Pull open the blue screen portable laptop",
+    "Lift and open the blue screen foldable laptop.",
+    "Open the blue screen portable laptop by lifting its lid.",
+    "Use the left arm to open the laptop with blue screen",
+    "Pull the screen of the foldable laptop.",
+    "With the left arm, open the blue screen portable laptop's lid.",
+    "Pull the lid of the laptop with folding lid upward.",
+    "Lift the laptop with black hinge area's lid using the left arm.",
+    "Fully open the orange laptop.",
+    "Pull the rectangular laptop with orange body upward lightly.",
+    "Gently lift the medium rectangular orange laptop using the left arm",
+    "Gently open the plastic orange laptop with metal parts.",
+    "Use the left arm to open the plastic orange laptop with metal parts.",
+    "Open the rectangular laptop with orange body lifting with the left arm",
+    "Pull up the lid of the foldable laptop",
+    "Gently open the orange laptop upward.",
+    "Raise the foldable laptop using the left arm.",
+    "Open the laptop with blue screen entirely.",
+    "Raise the blue screen portable laptop's top section.",
+    "Grip and lift the thin portable laptop's lid.",
+    "Open the laptop with blue screen completely.",
+    "Lift the foldable laptop's lid upwards.",
+    "Pull the orange laptop open with the left arm.",
+    "Gently raise the thin portable laptop using the left arm.",
+    "Use the left arm to raise the orange laptop.",
+    "Hold the hinged screen laptop steady, lift lid.",
+    "Use the left arm to open the rectangular laptop with orange body.",
+    "Lift the laptop with folding lid to open.",
+    "Lift the laptop with folding lid lid completely.",
+    "Pull the laptop with black hinge area's lid upward.",
+    "Lift the foldable laptop open with the left arm.",
+    "Use the left arm to open the laptop with blue screen.",
+    "Lift the thin portable laptop slightly.",
+    "Slide the laptop with folding lid open with the left arm.",
+    "Open the medium rectangular orange laptop carefully with the left arm.",
+    "Raise the top of the plastic orange laptop with metal parts"
+  ],
+  "unseen": [
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Open the compact laptop with orange exterior with care",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Grab the flat orange laptop and open it.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the flat orange laptop using the left arm",
+    "Open the flat orange laptop with care",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Lift the flat orange laptop using the left arm.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Open the flat orange laptop with one motion.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the flat orange laptop using the left arm",
+    "Open the flat orange laptop with care",
+    "Open the flat orange laptop using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Grab the flat orange laptop and open it.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Open the flat orange laptop with care",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the laptop with smooth surfaces using the left arm",
+    "Open the flat orange laptop with care",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Lift the flat orange laptop using the left arm.",
+    "Grab the flat orange laptop and open it.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the flat orange laptop using the left arm",
+    "Open the laptop with smooth surfaces with care",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the flat orange laptop using the left arm",
+    "Open the flat orange laptop with care",
+    "Open the flat orange laptop using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Open the laptop with smooth surfaces with care",
+    "Open the flat orange laptop using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Open the flat orange laptop with one motion.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Open the compact laptop with orange exterior with care",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Lift the flat orange laptop using the left arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Open the flat orange laptop with one motion.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the flat orange laptop using the left arm",
+    "Open the laptop with smooth surfaces with care",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Lift the flat orange laptop using the left arm.",
+    "Grab the flat orange laptop and open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000031.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..dafd51bedf7051ebb3ccb46f6e422440258f3839
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000031.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the foldable black laptop lid with the left arm.",
+    "Gently open the Toshiba laptop upward.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Open the black laptop lifting with the left arm",
+    "Pull the screen of the Toshiba laptop.",
+    "Use the left arm to open the sleek black Toshiba computing laptop.",
+    "Raise the black laptop with hinge mechanism using the left arm.",
+    "Raise the top of the black laptop with red text underneath",
+    "Push the black laptop with red text underneath's lid upward using the left arm.",
+    "Gently lift the medium black rectangular laptop using the left arm",
+    "Hold the foldable black laptop steady, lift lid.",
+    "Lift the black laptop with red Toshiba logo's lid using the left arm.",
+    "Raise the lid of the sleek black Toshiba computing laptop.",
+    "Raise the portable folding Toshiba laptop lid using the left arm.",
+    "Pull the Toshiba laptop open with the left arm.",
+    "Gently open the black laptop with smooth matte surface.",
+    "Lift the medium black rectangular laptop's lid upwards.",
+    "Lift and open the portable folding Toshiba laptop.",
+    "Open the sleek black Toshiba computing laptop completely.",
+    "Use the left arm to lift the Toshiba laptop",
+    "Use the left arm to open the black laptop.",
+    "Open the sleek black Toshiba computing laptop entirely.",
+    "Carefully open the Toshiba laptop using the left arm",
+    "Raise the black laptop with smooth matte surface using the left arm.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Fully lift the black laptop with hinge mechanism using the left arm.",
+    "Use the left arm to raise the portable folding Toshiba laptop.",
+    "Lift the black laptop with red text underneath to open it up",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Lift the foldable black laptop to open.",
+    "Pull the Toshiba laptop upward lightly.",
+    "Use the left arm to raise the sleek black Toshiba computing laptop.",
+    "Fully open the portable folding Toshiba laptop.",
+    "Raise the foldable black laptop's top section.",
+    "Use the left arm to open the black laptop",
+    "Pull the Toshiba laptop's lid upward.",
+    "Grip and lift the portable folding Toshiba laptop's lid.",
+    "Raise and open the medium black rectangular laptop.",
+    "With the left arm, open the portable folding Toshiba laptop's lid.",
+    "Open the Toshiba laptop with rectangular screen carefully with the left arm.",
+    "Raise the black laptop with hinge mechanism to expose the screen",
+    "Lift the black laptop open with the left arm.",
+    "Pull the lid of the black laptop with smooth matte surface upward.",
+    "Raise the sleek black Toshiba computing laptop using the left arm firmly.",
+    "Pull open the folding laptop with screen and keyboard",
+    "Gently raise the black laptop using the left arm.",
+    "Lift the black laptop slightly.",
+    "Use the left arm to raise the Toshiba laptop.",
+    "Pull up the lid of the black laptop",
+    "Slide the Toshiba laptop open with the left arm.",
+    "Raise the folding laptop with screen and keyboard lid with the left arm.",
+    "Gently open the Toshiba laptop upward.",
+    "Lift the black laptop with hinge mechanism lid completely.",
+    "Open the Toshiba laptop lifting with the left arm",
+    "Pull the screen of the black laptop with red Toshiba logo.",
+    "Use the left arm to open the medium black rectangular laptop.",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Raise the top of the black laptop with smooth matte surface",
+    "Push the black laptop with red text underneath's lid upward using the left arm.",
+    "Gently lift the portable folding Toshiba laptop using the left arm",
+    "Hold the black laptop with smooth matte surface steady, lift lid.",
+    "Lift the medium black rectangular laptop's lid using the left arm.",
+    "Raise the lid of the foldable black laptop.",
+    "Raise the black laptop with red text underneath lid using the left arm.",
+    "Pull the Toshiba laptop with rectangular screen open with the left arm.",
+    "Gently open the black laptop with red text underneath.",
+    "Lift the portable folding Toshiba laptop's lid upwards.",
+    "Lift and open the Toshiba laptop.",
+    "Open the black laptop with red text underneath completely.",
+    "Use the left arm to lift the portable folding Toshiba laptop",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "Open the portable folding Toshiba laptop entirely.",
+    "Carefully open the black laptop with smooth matte surface using the left arm",
+    "Raise the black laptop with red Toshiba logo using the left arm.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Fully lift the folding laptop with screen and keyboard using the left arm.",
+    "Use the left arm to raise the foldable black laptop.",
+    "Lift the black laptop with smooth matte surface to open it up",
+    "Open the black laptop with hinge mechanism by lifting its lid.",
+    "Lift the Toshiba laptop with rectangular screen to open.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Use the left arm to raise the black laptop with red text underneath.",
+    "Fully open the Toshiba laptop with rectangular screen.",
+    "Raise the sleek black Toshiba computing laptop's top section.",
+    "Use the left arm to open the black laptop with red Toshiba logo",
+    "Pull the Toshiba laptop's lid upward.",
+    "Grip and lift the folding laptop with screen and keyboard's lid.",
+    "Raise and open the black laptop with hinge mechanism.",
+    "With the left arm, open the portable folding Toshiba laptop's lid.",
+    "Open the Toshiba laptop with rectangular screen carefully with the left arm.",
+    "Raise the medium black rectangular laptop to expose the screen",
+    "Lift the black laptop with hinge mechanism open with the left arm.",
+    "Pull the lid of the foldable black laptop upward.",
+    "Raise the Toshiba laptop using the left arm firmly.",
+    "Pull open the Toshiba laptop",
+    "Gently raise the Toshiba laptop using the left arm.",
+    "Lift the black laptop with hinge mechanism slightly.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Pull up the lid of the foldable black laptop",
+    "Slide the black laptop with red text underneath open with the left arm."
+  ],
+  "unseen": [
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000032.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce5e5bcfe9ac725cb4aa2bc195ede31844af156
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000032.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the foldable laptop with screen slightly.",
+    "Raise the blue base black lid laptop's top section.",
+    "Gently raise the blue-black laptop using the right arm.",
+    "Open the black-and-blue laptop with keyboard carefully with the right arm.",
+    "Lift the black-and-blue laptop with keyboard to open.",
+    "Use the right arm to open the compact black laptop.",
+    "Pull the rectangular laptop with foldable hinge open with the right arm.",
+    "Pull up the lid of the black laptop with sharp rectangular edges",
+    "Raise the lid of the foldable laptop with screen.",
+    "Fully lift the black-and-blue laptop with keyboard using the right arm.",
+    "Lift the compact black laptop open with the right arm.",
+    "Lift and open the black laptop with sharp rectangular edges.",
+    "Use the right arm to raise the blue bottom foldable black laptop.",
+    "Raise the portable laptop lid with the right arm.",
+    "Gently lift the portable laptop using the right arm",
+    "Fully open the blue-black laptop.",
+    "Open the compact black laptop completely.",
+    "Use the right arm to open the compact black laptop.",
+    "Open the laptop for browsing and computing by lifting its lid.",
+    "Raise the compact black laptop lid using the right arm.",
+    "Pull the lid of the black-and-blue laptop with keyboard upward.",
+    "Lift the foldable laptop with screen's lid upwards.",
+    "Raise the laptop for browsing and computing to expose the screen",
+    "Gently open the medium-sized laptop for work upward.",
+    "Push the blue bottom foldable black laptop's lid upward using the right arm.",
+    "Use the right arm to raise the black-and-blue laptop with keyboard.",
+    "Lift the blue bottom foldable black laptop lid completely.",
+    "Open the medium-sized laptop for work lifting with the right arm",
+    "Pull open the blue-black laptop",
+    "Raise the foldable laptop with screen using the right arm.",
+    "Slide the blue-black laptop open with the right arm.",
+    "Raise and open the portable laptop.",
+    "Open the medium-sized laptop for work entirely.",
+    "Raise the black laptop with sharp rectangular edges using the right arm firmly.",
+    "Use the right arm to open the black laptop with blue bottom panel.",
+    "Raise the top of the laptop for browsing and computing",
+    "Use the right arm to raise the portable laptop.",
+    "Grip and lift the portable laptop's lid.",
+    "Carefully open the rectangular laptop with foldable hinge using the right arm",
+    "Gently open the black laptop with sharp rectangular edges.",
+    "Lift the rectangular laptop with foldable hinge's lid using the right arm.",
+    "Use the right arm to lift the blue bottom foldable black laptop",
+    "Use the right arm to open the portable laptop",
+    "Lift the medium-sized laptop for work to open it up",
+    "With the right arm, open the laptop for browsing and computing's lid.",
+    "Pull the portable laptop's lid upward.",
+    "Pull the portable laptop upward lightly.",
+    "Raise the rectangular laptop with foldable hinge using the right arm.",
+    "Pull the screen of the black-and-blue laptop with keyboard.",
+    "Hold the black laptop with blue bottom panel steady, lift lid.",
+    "Lift the portable laptop slightly.",
+    "Raise the black laptop with blue bottom panel's top section.",
+    "Gently raise the black laptop with blue bottom panel using the right arm.",
+    "Open the black laptop with sharp rectangular edges carefully with the right arm.",
+    "Lift the black-and-blue laptop with keyboard to open.",
+    "Use the right arm to open the compact black laptop.",
+    "Pull the blue base black lid laptop open with the right arm.",
+    "Pull up the lid of the black-and-blue laptop with keyboard",
+    "Raise the lid of the rectangular laptop with foldable hinge.",
+    "Fully lift the laptop for browsing and computing using the right arm.",
+    "Lift the black-and-blue laptop with keyboard open with the right arm.",
+    "Lift and open the rectangular laptop with foldable hinge.",
+    "Use the right arm to raise the blue bottom foldable black laptop.",
+    "Raise the blue bottom foldable black laptop lid with the right arm.",
+    "Gently lift the portable laptop using the right arm",
+    "Fully open the black laptop with blue bottom panel.",
+    "Open the black laptop with sharp rectangular edges completely.",
+    "Use the right arm to open the blue bottom foldable black laptop.",
+    "Open the blue-black laptop by lifting its lid.",
+    "Raise the blue-black laptop lid using the right arm.",
+    "Pull the lid of the blue bottom foldable black laptop upward.",
+    "Lift the blue base black lid laptop's lid upwards.",
+    "Raise the blue base black lid laptop to expose the screen",
+    "Gently open the blue base black lid laptop upward.",
+    "Push the black laptop with sharp rectangular edges's lid upward using the right arm.",
+    "Use the right arm to raise the black laptop with blue bottom panel.",
+    "Lift the blue-black laptop lid completely.",
+    "Open the black laptop with blue bottom panel lifting with the right arm",
+    "Pull open the portable laptop",
+    "Raise the compact black laptop using the right arm.",
+    "Slide the blue bottom foldable black laptop open with the right arm.",
+    "Raise and open the blue bottom foldable black laptop.",
+    "Open the blue base black lid laptop entirely.",
+    "Raise the rectangular laptop with foldable hinge using the right arm firmly.",
+    "Use the right arm to open the black laptop with sharp rectangular edges.",
+    "Raise the top of the blue bottom foldable black laptop",
+    "Use the right arm to raise the blue base black lid laptop.",
+    "Grip and lift the compact black laptop's lid.",
+    "Carefully open the foldable laptop with screen using the right arm",
+    "Gently open the blue bottom foldable black laptop.",
+    "Lift the foldable laptop with screen's lid using the right arm.",
+    "Use the right arm to lift the laptop for browsing and computing",
+    "Use the right arm to open the laptop for browsing and computing",
+    "Lift the medium-sized laptop for work to open it up",
+    "With the right arm, open the laptop for browsing and computing's lid.",
+    "Pull the compact black laptop's lid upward.",
+    "Pull the foldable laptop with screen upward lightly.",
+    "Raise the medium-sized laptop for work using the right arm.",
+    "Pull the screen of the black laptop with blue bottom panel.",
+    "Hold the black laptop with sharp rectangular edges steady, lift lid."
+  ],
+  "unseen": [
+    "Lift the black laptop's lid gently.",
+    "Open the black laptop with care",
+    "Lift the black laptop's lid fully.",
+    "Open the black laptop carefully using the right arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the black laptop with one motion.",
+    "Lift the black laptop using the right arm",
+    "Lift the black laptop using the right arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the black laptop using the right arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the black laptop with care",
+    "Lift the black laptop's lid fully.",
+    "Open the black laptop carefully using the right arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the black laptop using the right arm",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the black laptop using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the black laptop using the right arm",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Lift the black laptop using the right arm.",
+    "Grab the black laptop and open it.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the black laptop carefully using the right arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Pull up the black laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Lift the black laptop using the right arm",
+    "Lift the black laptop using the right arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the black laptop carefully using the right arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the black laptop using the right arm",
+    "Lift the black laptop using the right arm.",
+    "Grab the black laptop and open it.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the black laptop carefully using the right arm.",
+    "Pull up the black laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Pull up the black laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the black laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000033.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f93431e15486e9bb951a45450908484528692df
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000033.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the rectangular laptop with screen completely.",
+    "Raise the compact silver laptop lid using the left arm.",
+    "Carefully open the laptop with metallic finish using the left arm",
+    "Pull the portable slim laptop open with the left arm.",
+    "Lift the medium-sized silver laptop lid completely.",
+    "Open the laptop with metallic finish entirely.",
+    "Pull the lid of the portable slim laptop upward.",
+    "Use the left arm to open the silver laptop with dark keys",
+    "Pull the screen of the compact silver laptop.",
+    "Lift and open the portable slim laptop.",
+    "Use the left arm to raise the lightweight silver laptop.",
+    "Slide the rectangular laptop with screen open with the left arm.",
+    "Raise the lid of the rectangular laptop with screen.",
+    "Raise the laptop with black keyboard lid with the left arm.",
+    "Use the left arm to raise the compact silver laptop.",
+    "Raise and open the laptop with foldable screen design.",
+    "Raise the top of the compact silver laptop",
+    "Open the slim laptop by lifting its lid.",
+    "Gently lift the medium-sized silver laptop using the left arm",
+    "Raise the portable slim laptop using the left arm.",
+    "Raise the rectangular laptop with screen to expose the screen",
+    "Pull open the laptop with smooth surface",
+    "Lift the laptop with black keyboard's lid using the left arm.",
+    "Open the slim laptop lifting with the left arm",
+    "Raise the rectangular laptop with screen using the left arm.",
+    "Gently raise the slim laptop using the left arm.",
+    "Raise the laptop with black keyboard's top section.",
+    "Lift the medium-sized silver laptop's lid upwards.",
+    "Use the left arm to raise the laptop with foldable screen design.",
+    "Use the left arm to open the medium-sized silver laptop.",
+    "Hold the laptop with black keyboard steady, lift lid.",
+    "With the left arm, open the laptop with smooth surface's lid.",
+    "Gently open the laptop with foldable screen design upward.",
+    "Fully lift the medium-sized silver laptop using the left arm.",
+    "Grip and lift the laptop with black keyboard's lid.",
+    "Use the left arm to open the portable slim laptop.",
+    "Lift the compact silver laptop to open.",
+    "Gently open the slim laptop.",
+    "Lift the metal laptop with black keys slightly.",
+    "Pull the metal laptop with black keys's lid upward.",
+    "Fully open the laptop with metallic finish.",
+    "Raise the laptop with smooth surface using the left arm firmly.",
+    "Use the left arm to open the silver laptop with dark keys.",
+    "Pull up the lid of the laptop with smooth surface",
+    "Push the metal laptop with black keys's lid upward using the left arm.",
+    "Pull the compact silver laptop upward lightly.",
+    "Use the left arm to lift the metal laptop with black keys",
+    "Lift the slim laptop to open it up",
+    "Lift the metal laptop with black keys open with the left arm.",
+    "Open the portable slim laptop carefully with the left arm.",
+    "Open the laptop with smooth surface completely.",
+    "Raise the compact silver laptop lid using the left arm.",
+    "Carefully open the laptop with black keyboard using the left arm",
+    "Pull the laptop with foldable screen design open with the left arm.",
+    "Lift the silver laptop with dark keys lid completely.",
+    "Open the medium-sized silver laptop entirely.",
+    "Pull the lid of the rectangular laptop with screen upward.",
+    "Use the left arm to open the metal laptop with black keys",
+    "Pull the screen of the rectangular laptop with screen.",
+    "Lift and open the medium-sized silver laptop.",
+    "Use the left arm to raise the laptop with smooth surface.",
+    "Slide the lightweight silver laptop open with the left arm.",
+    "Raise the lid of the laptop with black keyboard.",
+    "Raise the medium-sized silver laptop lid with the left arm.",
+    "Use the left arm to raise the laptop with foldable screen design.",
+    "Raise and open the laptop with foldable screen design.",
+    "Raise the top of the laptop with foldable screen design",
+    "Open the lightweight silver laptop by lifting its lid.",
+    "Gently lift the silver laptop with dark keys using the left arm",
+    "Raise the rectangular laptop with screen using the left arm.",
+    "Raise the laptop with metallic finish to expose the screen",
+    "Pull open the silver laptop with dark keys",
+    "Lift the compact silver laptop's lid using the left arm.",
+    "Open the laptop with foldable screen design lifting with the left arm",
+    "Raise the laptop with foldable screen design using the left arm.",
+    "Gently raise the portable slim laptop using the left arm.",
+    "Raise the silver laptop with dark keys's top section.",
+    "Lift the portable slim laptop's lid upwards.",
+    "Use the left arm to raise the slim laptop.",
+    "Use the left arm to open the metal laptop with black keys.",
+    "Hold the silver laptop with dark keys steady, lift lid.",
+    "With the left arm, open the silver laptop with dark keys's lid.",
+    "Gently open the laptop with smooth surface upward.",
+    "Fully lift the metal laptop with black keys using the left arm.",
+    "Grip and lift the portable slim laptop's lid.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Lift the laptop with metallic finish to open.",
+    "Gently open the laptop with smooth surface.",
+    "Lift the lightweight silver laptop slightly.",
+    "Pull the laptop with smooth surface's lid upward.",
+    "Fully open the laptop with black keyboard.",
+    "Raise the lightweight silver laptop using the left arm firmly.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Pull up the lid of the laptop with smooth surface",
+    "Push the slim laptop's lid upward using the left arm.",
+    "Pull the silver laptop with dark keys upward lightly.",
+    "Use the left arm to lift the slim laptop",
+    "Lift the metal laptop with black keys to open it up",
+    "Lift the rectangular laptop with screen open with the left arm.",
+    "Open the portable slim laptop carefully with the left arm."
+  ],
+  "unseen": [
+    "Open the silver laptop carefully using the left arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Grab the silver laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the silver laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Grab the silver laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop with care",
+    "Open the silver laptop with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the silver laptop with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Grab the silver laptop and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the foldable laptop with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the silver laptop and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the silver laptop using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the silver laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the silver laptop using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000034.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..b93def915833aa16fe035561401994c519c5008c
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000034.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip and lift the foldable laptop with patterned keyboard's lid.",
+    "Gently raise the black laptop with red accents using the right arm.",
+    "Use the right arm to open the hinged laptop with screen and base",
+    "Lift the laptop with red logo underside to open it up",
+    "Open the lightweight laptop completely.",
+    "Raise the laptop with red logo underside lid with the right arm.",
+    "Lift the compact black laptop slightly.",
+    "Use the right arm to raise the compact black laptop.",
+    "Open the foldable laptop with patterned keyboard by lifting its lid.",
+    "Lift the black metallic laptop's lid upwards.",
+    "Pull the laptop with red logo underside open with the right arm.",
+    "Open the sleek laptop design lifting with the right arm",
+    "With the right arm, open the medium-sized laptop with black body's lid.",
+    "Gently open the black metallic laptop upward.",
+    "Carefully open the lightweight laptop using the right arm",
+    "Raise the lid of the sleek laptop design.",
+    "Raise the top of the hinged laptop with screen and base",
+    "Hold the hinged laptop with screen and base steady, lift lid.",
+    "Pull the screen of the laptop with red logo underside.",
+    "Push the laptop with screen and keyboard's lid upward using the right arm.",
+    "Lift and open the laptop featuring textured exterior.",
+    "Lift the laptop featuring textured exterior to open.",
+    "Lift the laptop featuring textured exterior's lid using the right arm.",
+    "Raise the black metallic laptop using the right arm.",
+    "Use the right arm to lift the black laptop",
+    "Pull the sleek laptop design upward lightly.",
+    "Raise the lightweight laptop using the right arm.",
+    "Lift the compact black laptop open with the right arm.",
+    "Use the right arm to raise the black laptop with red accents.",
+    "Raise the sleek laptop design's top section.",
+    "Slide the black metallic laptop open with the right arm.",
+    "Fully open the laptop with red logo underside.",
+    "Raise the laptop with red logo underside to expose the screen",
+    "Pull the medium-sized laptop with black body's lid upward.",
+    "Use the right arm to open the laptop with red logo underside.",
+    "Pull open the laptop with screen and keyboard",
+    "Use the right arm to raise the laptop with screen and keyboard.",
+    "Gently open the black laptop with red accents.",
+    "Gently lift the laptop with red logo underside using the right arm",
+    "Open the laptop with screen and keyboard entirely.",
+    "Use the right arm to open the foldable laptop with patterned keyboard.",
+    "Use the right arm to open the lightweight laptop.",
+    "Lift the laptop with screen and keyboard lid completely.",
+    "Pull the lid of the laptop with screen and keyboard upward.",
+    "Raise the medium-sized laptop with black body lid using the right arm.",
+    "Fully lift the foldable laptop with patterned keyboard using the right arm.",
+    "Pull up the lid of the medium-sized laptop with black body",
+    "Raise and open the black metallic laptop.",
+    "Raise the laptop with red logo underside using the right arm firmly.",
+    "Open the laptop with red logo underside carefully with the right arm.",
+    "Grip and lift the hinged laptop with screen and base's lid.",
+    "Gently raise the laptop with red logo underside using the right arm.",
+    "Use the right arm to open the black laptop",
+    "Lift the compact black laptop to open it up",
+    "Open the sleek laptop design completely.",
+    "Raise the sleek laptop design lid with the right arm.",
+    "Lift the black laptop with red accents slightly.",
+    "Use the right arm to raise the lightweight laptop.",
+    "Open the laptop featuring textured exterior by lifting its lid.",
+    "Lift the laptop featuring textured exterior's lid upwards.",
+    "Pull the laptop with screen and keyboard open with the right arm.",
+    "Open the laptop featuring textured exterior lifting with the right arm",
+    "With the right arm, open the hinged laptop with screen and base's lid.",
+    "Gently open the hinged laptop with screen and base upward.",
+    "Carefully open the lightweight laptop using the right arm",
+    "Raise the lid of the black metallic laptop.",
+    "Raise the top of the lightweight laptop",
+    "Hold the laptop featuring textured exterior steady, lift lid.",
+    "Pull the screen of the black laptop with red accents.",
+    "Push the black laptop with red accents's lid upward using the right arm.",
+    "Lift and open the black laptop with red accents.",
+    "Lift the laptop with red logo underside to open.",
+    "Lift the compact black laptop's lid using the right arm.",
+    "Raise the black metallic laptop using the right arm.",
+    "Use the right arm to lift the laptop featuring textured exterior",
+    "Pull the laptop with red logo underside upward lightly.",
+    "Raise the laptop with red logo underside using the right arm.",
+    "Lift the laptop with red logo underside open with the right arm.",
+    "Use the right arm to raise the hinged laptop with screen and base.",
+    "Raise the compact black laptop's top section.",
+    "Slide the black laptop open with the right arm.",
+    "Fully open the sleek laptop design.",
+    "Raise the hinged laptop with screen and base to expose the screen",
+    "Pull the medium-sized laptop with black body's lid upward.",
+    "Use the right arm to open the black laptop.",
+    "Pull open the laptop with screen and keyboard",
+    "Use the right arm to raise the sleek laptop design.",
+    "Gently open the compact black laptop.",
+    "Gently lift the lightweight laptop using the right arm",
+    "Open the black laptop with red accents entirely.",
+    "Use the right arm to open the black metallic laptop.",
+    "Use the right arm to open the black laptop.",
+    "Lift the laptop with screen and keyboard lid completely.",
+    "Pull the lid of the laptop with screen and keyboard upward.",
+    "Raise the compact black laptop lid using the right arm.",
+    "Fully lift the black laptop with red accents using the right arm.",
+    "Pull up the lid of the laptop with screen and keyboard",
+    "Raise and open the black metallic laptop.",
+    "Raise the hinged laptop with screen and base using the right arm firmly.",
+    "Open the sleek laptop design carefully with the right arm."
+  ],
+  "unseen": [
+    "Lift the portable laptop using the right arm",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop using the right arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop carefully using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Grab the portable laptop and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Lift the portable laptop using the right arm",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop using the right arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop carefully using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop using the right arm.",
+    "Lift the portable laptop using the right arm",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop using the right arm.",
+    "Lift the portable laptop using the right arm",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop carefully using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Grab the portable laptop and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop using the right arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop using the right arm.",
+    "Lift the portable laptop using the right arm",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop using the right arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop carefully using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000035.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..63b4b684fc4dc12c626cd70c883c25dea3ec470c
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000035.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the black laptop with red accents open with the left arm.",
+    "Use the left arm to open the laptop with screen and keyboard",
+    "With the left arm, open the black laptop with red accents's lid.",
+    "Pull the medium-sized laptop with black body upward lightly.",
+    "Push the laptop with screen and keyboard's lid upward using the left arm.",
+    "Use the left arm to raise the foldable laptop with patterned keyboard.",
+    "Pull the lightweight laptop's lid upward.",
+    "Lift the lightweight laptop to open.",
+    "Pull the black laptop open with the left arm.",
+    "Use the left arm to raise the hinged laptop with screen and base.",
+    "Use the left arm to open the black laptop.",
+    "Use the left arm to raise the hinged laptop with screen and base.",
+    "Hold the foldable laptop with patterned keyboard steady, lift lid.",
+    "Raise the compact black laptop using the left arm.",
+    "Gently lift the black laptop with red accents using the left arm",
+    "Carefully open the compact black laptop using the left arm",
+    "Fully open the black laptop with red accents.",
+    "Open the foldable laptop with patterned keyboard completely.",
+    "Raise the medium-sized laptop with black body using the left arm.",
+    "Open the black laptop lifting with the left arm",
+    "Use the left arm to open the laptop with screen and keyboard.",
+    "Gently open the lightweight laptop upward.",
+    "Raise the lightweight laptop's top section.",
+    "Open the laptop with red logo underside by lifting its lid.",
+    "Raise the black metallic laptop lid using the left arm.",
+    "Open the lightweight laptop entirely.",
+    "Lift the laptop with screen and keyboard's lid upwards.",
+    "Use the left arm to open the laptop featuring textured exterior.",
+    "Grip and lift the laptop with screen and keyboard's lid.",
+    "Pull up the lid of the foldable laptop with patterned keyboard",
+    "Pull the lid of the foldable laptop with patterned keyboard upward.",
+    "Use the left arm to lift the compact black laptop",
+    "Lift the laptop with red logo underside to open it up",
+    "Pull the screen of the laptop with screen and keyboard.",
+    "Lift the hinged laptop with screen and base lid completely.",
+    "Raise the lid of the compact black laptop.",
+    "Raise and open the foldable laptop with patterned keyboard.",
+    "Lift the lightweight laptop slightly.",
+    "Raise the compact black laptop to expose the screen",
+    "Pull open the black laptop",
+    "Lift the black laptop's lid using the left arm.",
+    "Raise the top of the laptop with screen and keyboard",
+    "Raise the laptop with screen and keyboard lid with the left arm.",
+    "Open the black laptop with red accents carefully with the left arm.",
+    "Gently open the laptop with screen and keyboard.",
+    "Gently raise the hinged laptop with screen and base using the left arm.",
+    "Fully lift the black metallic laptop using the left arm.",
+    "Raise the black metallic laptop using the left arm firmly.",
+    "Lift and open the hinged laptop with screen and base.",
+    "Lift the black laptop with red accents open with the left arm.",
+    "Slide the laptop featuring textured exterior open with the left arm.",
+    "Use the left arm to open the sleek laptop design",
+    "With the left arm, open the black laptop with red accents's lid.",
+    "Pull the black laptop with red accents upward lightly.",
+    "Push the black metallic laptop's lid upward using the left arm.",
+    "Use the left arm to raise the lightweight laptop.",
+    "Pull the hinged laptop with screen and base's lid upward.",
+    "Lift the black laptop with red accents to open.",
+    "Pull the laptop featuring textured exterior open with the left arm.",
+    "Use the left arm to raise the compact black laptop.",
+    "Use the left arm to open the laptop with red logo underside.",
+    "Use the left arm to raise the laptop with red logo underside.",
+    "Hold the black laptop steady, lift lid.",
+    "Raise the black metallic laptop using the left arm.",
+    "Gently lift the black metallic laptop using the left arm",
+    "Carefully open the laptop with screen and keyboard using the left arm",
+    "Fully open the laptop featuring textured exterior.",
+    "Open the laptop with red logo underside completely.",
+    "Raise the laptop featuring textured exterior using the left arm.",
+    "Open the laptop with screen and keyboard lifting with the left arm",
+    "Use the left arm to open the black laptop with red accents.",
+    "Gently open the black laptop upward.",
+    "Raise the laptop featuring textured exterior's top section.",
+    "Open the black laptop by lifting its lid.",
+    "Raise the black laptop lid using the left arm.",
+    "Open the black metallic laptop entirely.",
+    "Lift the foldable laptop with patterned keyboard's lid upwards.",
+    "Use the left arm to open the sleek laptop design.",
+    "Grip and lift the black laptop with red accents's lid.",
+    "Pull up the lid of the laptop with screen and keyboard",
+    "Pull the lid of the laptop featuring textured exterior upward.",
+    "Use the left arm to lift the foldable laptop with patterned keyboard",
+    "Lift the medium-sized laptop with black body to open it up",
+    "Pull the screen of the black laptop.",
+    "Lift the medium-sized laptop with black body lid completely.",
+    "Raise the lid of the black metallic laptop.",
+    "Raise and open the black metallic laptop.",
+    "Lift the laptop featuring textured exterior slightly.",
+    "Raise the black laptop with red accents to expose the screen",
+    "Pull open the laptop with red logo underside",
+    "Lift the black laptop with red accents's lid using the left arm.",
+    "Raise the top of the black laptop",
+    "Raise the lightweight laptop lid with the left arm.",
+    "Open the laptop with screen and keyboard carefully with the left arm.",
+    "Gently open the hinged laptop with screen and base.",
+    "Gently raise the foldable laptop with patterned keyboard using the left arm.",
+    "Fully lift the sleek laptop design using the left arm.",
+    "Raise the black metallic laptop using the left arm firmly.",
+    "Lift and open the sleek laptop design.",
+    "Lift the black laptop open with the left arm."
+  ],
+  "unseen": [
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop with one motion.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the portable laptop using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Pull up the portable laptop's lid.",
+    "Lift the portable laptop using the left arm",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the left arm.",
+    "Open the portable laptop with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the portable laptop using the left arm",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Pull up the portable laptop's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the portable laptop using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the portable laptop using the left arm",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the left arm.",
+    "Open the portable laptop with one motion.",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the portable laptop using the left arm",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the portable laptop using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000036.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..d025a71fa9012be285b558c096f3cd5b1b6fb2bb
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000036.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully lift the laptop with smooth texture using the right arm.",
+    "Hold the laptop with smooth texture steady, lift lid.",
+    "Raise the lid of the laptop with smooth texture.",
+    "Fully open the laptop featuring smooth metal finish.",
+    "Use the right arm to open the metallic laptop",
+    "Raise the rectangular laptop with hinge's top section.",
+    "Lift the portable silver laptop's lid upwards.",
+    "Gently open the hinged laptop with display.",
+    "Raise the hinged laptop with display using the right arm firmly.",
+    "Raise the laptop with glass screen lid using the right arm.",
+    "Raise the portable silver laptop using the right arm.",
+    "Open the laptop for computing by lifting its lid.",
+    "Open the blue-screen laptop carefully with the right arm.",
+    "Slide the laptop with smooth texture open with the right arm.",
+    "Open the portable silver laptop entirely.",
+    "With the right arm, open the portable silver laptop's lid.",
+    "Pull the screen of the rectangular laptop with hinge.",
+    "Lift the laptop featuring smooth metal finish to open it up",
+    "Gently raise the laptop with silver base using the right arm.",
+    "Lift the laptop featuring smooth metal finish slightly.",
+    "Raise the blue-screen laptop using the right arm.",
+    "Lift the laptop with silver base lid completely.",
+    "Gently lift the laptop for computing using the right arm",
+    "Lift and open the medium-sized laptop.",
+    "Pull the blue-screen laptop open with the right arm.",
+    "Pull the hinged laptop with display upward lightly.",
+    "Pull up the lid of the laptop for computing",
+    "Pull open the portable silver laptop",
+    "Open the laptop with silver base lifting with the right arm",
+    "Raise and open the rectangular laptop with hinge.",
+    "Lift the laptop with silver base open with the right arm.",
+    "Use the right arm to raise the blue-screen laptop.",
+    "Use the right arm to raise the portable silver laptop.",
+    "Raise the metallic laptop to expose the screen",
+    "Gently open the hinged laptop with display upward.",
+    "Lift the laptop with silver base to open.",
+    "Pull the lid of the laptop with silver base upward.",
+    "Push the hinged laptop with display's lid upward using the right arm.",
+    "Use the right arm to open the laptop for computing.",
+    "Raise the top of the laptop for computing",
+    "Use the right arm to open the rectangular laptop with hinge.",
+    "Pull the rectangular laptop with hinge's lid upward.",
+    "Use the right arm to open the rectangular laptop with hinge.",
+    "Carefully open the laptop featuring smooth metal finish using the right arm",
+    "Open the laptop with smooth texture completely.",
+    "Grip and lift the laptop for computing's lid.",
+    "Use the right arm to raise the blue-screen laptop.",
+    "Use the right arm to lift the rectangular laptop with hinge",
+    "Lift the rectangular laptop with hinge's lid using the right arm.",
+    "Raise the laptop for computing lid with the right arm.",
+    "Fully lift the blue-screen laptop using the right arm.",
+    "Hold the laptop with smooth texture steady, lift lid.",
+    "Raise the lid of the blue-screen laptop.",
+    "Fully open the laptop featuring smooth metal finish.",
+    "Use the right arm to open the hinged laptop with display",
+    "Raise the portable silver laptop's top section.",
+    "Lift the laptop featuring smooth metal finish's lid upwards.",
+    "Gently open the rectangular laptop with hinge.",
+    "Raise the laptop with blue screen using the right arm firmly.",
+    "Raise the laptop with blue screen lid using the right arm.",
+    "Raise the laptop with glass screen using the right arm.",
+    "Open the laptop with blue screen by lifting its lid.",
+    "Open the blue-screen laptop carefully with the right arm.",
+    "Slide the laptop with silver base open with the right arm.",
+    "Open the laptop with glass screen entirely.",
+    "With the right arm, open the hinged laptop with display's lid.",
+    "Pull the screen of the hinged laptop with display.",
+    "Lift the laptop with silver base to open it up",
+    "Gently raise the laptop with smooth texture using the right arm.",
+    "Lift the rectangular laptop with hinge slightly.",
+    "Raise the blue-screen laptop using the right arm.",
+    "Lift the laptop featuring smooth metal finish lid completely.",
+    "Gently lift the laptop with blue screen using the right arm",
+    "Lift and open the rectangular laptop with hinge.",
+    "Pull the laptop with glass screen open with the right arm.",
+    "Pull the hinged laptop with display upward lightly.",
+    "Pull up the lid of the portable silver laptop",
+    "Pull open the laptop for computing",
+    "Open the blue-screen laptop lifting with the right arm",
+    "Raise and open the laptop featuring smooth metal finish.",
+    "Lift the rectangular laptop with hinge open with the right arm.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Use the right arm to raise the laptop with glass screen.",
+    "Raise the metallic laptop to expose the screen",
+    "Gently open the laptop for computing upward.",
+    "Lift the hinged laptop with display to open.",
+    "Pull the lid of the laptop with smooth texture upward.",
+    "Push the laptop with smooth texture's lid upward using the right arm.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Raise the top of the blue-screen laptop",
+    "Use the right arm to open the laptop with silver base.",
+    "Pull the laptop with blue screen's lid upward.",
+    "Use the right arm to open the laptop with silver base.",
+    "Carefully open the medium-sized laptop using the right arm",
+    "Open the metallic laptop completely.",
+    "Grip and lift the portable silver laptop's lid.",
+    "Use the right arm to raise the blue-screen laptop.",
+    "Use the right arm to lift the medium-sized laptop",
+    "Lift the laptop with silver base's lid using the right arm.",
+    "Raise the laptop with silver base lid with the right arm."
+  ],
+  "unseen": [
+    "Lift the sleek laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Lift the silver laptop using the right arm.",
+    "Open the sleek laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Open the silver laptop with care",
+    "Lift the silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Open the silver laptop with care"
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000037.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..dde495ae8f5e8d2264083ab2410c7f2840a79199
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000037.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the blue-screen laptop with flat keys by lifting its lid.",
+    "Raise the laptop with rectangular base to expose the screen",
+    "Gently raise the sleek black laptop with blue monitor using the left arm.",
+    "Use the left arm to open the laptop with smooth matte surface.",
+    "Fully lift the black laptop using the left arm.",
+    "Lift the laptop with smooth matte surface's lid upwards.",
+    "Lift the screen and keyboard laptop to open it up",
+    "Slide the rectangular black laptop open with the left arm.",
+    "Open the blue-screen laptop with flat keys carefully with the left arm.",
+    "Push the laptop with smooth keyboard area's lid upward using the left arm.",
+    "Raise the folding laptop with black exterior's top section.",
+    "Raise the black laptop using the left arm.",
+    "Raise the laptop with blue screen using the left arm.",
+    "Raise and open the laptop with rectangular base.",
+    "Raise the lid of the sleek black laptop with blue monitor.",
+    "Use the left arm to open the black plastic laptop with blue display.",
+    "Use the left arm to lift the sleek black laptop with blue monitor",
+    "Grip and lift the black plastic laptop with blue display's lid.",
+    "Lift and open the laptop with blue screen.",
+    "Use the left arm to raise the laptop with smooth keyboard area.",
+    "Open the black laptop lifting with the left arm",
+    "Carefully open the black plastic laptop with blue display using the left arm",
+    "Lift the black plastic laptop with blue display to open.",
+    "Raise the top of the black laptop",
+    "Pull the lid of the laptop with smooth keyboard area upward.",
+    "Open the laptop with smooth keyboard area entirely.",
+    "Lift the black laptop's lid using the left arm.",
+    "Use the left arm to open the laptop with smooth keyboard area",
+    "Pull the blue-screen laptop with flat keys upward lightly.",
+    "Lift the black laptop lid completely.",
+    "Raise the screen and keyboard laptop lid using the left arm.",
+    "With the left arm, open the portable folding laptop's lid.",
+    "Open the laptop with smooth keyboard area completely.",
+    "Gently open the folding laptop with black exterior upward.",
+    "Use the left arm to raise the laptop with smooth matte surface.",
+    "Pull the laptop with smooth matte surface's lid upward.",
+    "Raise the laptop with smooth keyboard area lid with the left arm.",
+    "Use the left arm to raise the sleek black laptop with blue monitor.",
+    "Gently lift the black laptop using the left arm",
+    "Lift the laptop with rectangular base slightly.",
+    "Pull the screen of the folding laptop with black exterior.",
+    "Raise the black plastic laptop with blue display using the left arm firmly.",
+    "Lift the rectangular black laptop open with the left arm.",
+    "Gently open the screen and keyboard laptop.",
+    "Use the left arm to open the black laptop.",
+    "Pull open the laptop with rectangular base",
+    "Pull up the lid of the black laptop",
+    "Hold the laptop with blue screen steady, lift lid.",
+    "Fully open the rectangular black laptop.",
+    "Pull the black laptop open with the left arm.",
+    "Open the blue-screen laptop with flat keys by lifting its lid.",
+    "Raise the laptop with smooth keyboard area to expose the screen",
+    "Gently raise the laptop with smooth keyboard area using the left arm.",
+    "Use the left arm to open the screen and keyboard laptop.",
+    "Fully lift the sleek black laptop with blue monitor using the left arm.",
+    "Lift the laptop with rectangular base's lid upwards.",
+    "Lift the laptop with rectangular base to open it up",
+    "Slide the laptop with blue screen open with the left arm.",
+    "Open the sleek black laptop with blue monitor carefully with the left arm.",
+    "Push the black plastic laptop with blue display's lid upward using the left arm.",
+    "Raise the black plastic laptop with blue display's top section.",
+    "Raise the screen and keyboard laptop using the left arm.",
+    "Raise the laptop with blue screen using the left arm.",
+    "Raise and open the sleek black laptop with blue monitor.",
+    "Raise the lid of the black plastic laptop with blue display.",
+    "Use the left arm to open the screen and keyboard laptop.",
+    "Use the left arm to lift the laptop with rectangular base",
+    "Grip and lift the blue-screen laptop with flat keys's lid.",
+    "Lift and open the laptop with blue screen.",
+    "Use the left arm to raise the black plastic laptop with blue display.",
+    "Open the laptop with blue screen lifting with the left arm",
+    "Carefully open the laptop with smooth matte surface using the left arm",
+    "Lift the laptop with smooth keyboard area to open.",
+    "Raise the top of the screen and keyboard laptop",
+    "Pull the lid of the screen and keyboard laptop upward.",
+    "Open the folding laptop with black exterior entirely.",
+    "Lift the blue-screen laptop with flat keys's lid using the left arm.",
+    "Use the left arm to open the laptop with smooth matte surface",
+    "Pull the sleek black laptop with blue monitor upward lightly.",
+    "Lift the laptop with smooth matte surface lid completely.",
+    "Raise the sleek black laptop with blue monitor lid using the left arm.",
+    "With the left arm, open the rectangular black laptop's lid.",
+    "Open the blue-screen laptop with flat keys completely.",
+    "Gently open the screen and keyboard laptop upward.",
+    "Use the left arm to raise the laptop with smooth matte surface.",
+    "Pull the black laptop's lid upward.",
+    "Raise the folding laptop with black exterior lid with the left arm.",
+    "Use the left arm to raise the sleek black laptop with blue monitor.",
+    "Gently lift the sleek black laptop with blue monitor using the left arm",
+    "Lift the laptop with blue screen slightly.",
+    "Pull the screen of the black plastic laptop with blue display.",
+    "Raise the laptop with rectangular base using the left arm firmly.",
+    "Lift the portable folding laptop open with the left arm.",
+    "Gently open the black laptop.",
+    "Use the left arm to open the black plastic laptop with blue display.",
+    "Pull open the rectangular black laptop",
+    "Pull up the lid of the laptop with smooth matte surface",
+    "Hold the laptop with smooth keyboard area steady, lift lid.",
+    "Fully open the blue-screen laptop with flat keys.",
+    "Pull the folding laptop with black exterior open with the left arm."
+  ],
+  "unseen": [
+    "Open the medium-sized black laptop using the left arm.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Open the black laptop with compact design with one motion.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the black laptop with shiny hinges with care",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Lift the black laptop with compact design's lid gently.",
+    "Open the black laptop with compact design using the left arm.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Open the black laptop with compact design with one motion.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the medium-sized black laptop with care",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Open the medium-sized black laptop with care",
+    "Grab the black laptop with compact design and open it.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the black laptop with compact design's lid gently.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Open the medium-sized black laptop with one motion.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with compact design with care",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the black laptop with compact design's lid gently.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with compact design with care",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Open the black laptop with compact design with care",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the black laptop with compact design with care",
+    "Grab the black laptop with compact design and open it.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Lift the black laptop with compact design using the left arm",
+    "Lift the black laptop with compact design's lid gently.",
+    "Open the black laptop with compact design using the left arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the medium-sized black laptop with care",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Lift the black laptop with compact design using the left arm",
+    "Lift the black laptop with compact design's lid gently.",
+    "Open the black laptop with compact design using the left arm.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Open the medium-sized black laptop with one motion.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with compact design with care",
+    "Grab the black laptop with compact design and open it.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Open the black laptop with compact design using the left arm.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Open the medium-sized black laptop with one motion.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the black laptop with compact design with care",
+    "Grab the black laptop with compact design and open it.",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the black laptop with compact design using the left arm",
+    "Lift the medium-sized black laptop's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000038.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaef7ca25dded176ea00152f9b2993309b85a774
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000038.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift and open the laptop for typing and computing.",
+    "Gently raise the laptop with flat black keyboard using the right arm.",
+    "Use the right arm to raise the black laptop.",
+    "Gently open the black laptop with metallic edges upward.",
+    "Use the right arm to open the black laptop.",
+    "Open the portable black laptop with textured casing lifting with the right arm",
+    "Open the laptop featuring black base and hinged screen entirely.",
+    "Gently lift the laptop for typing and computing using the right arm",
+    "Hold the black laptop steady, lift lid.",
+    "Raise the lid of the black laptop with Saturn image on screen.",
+    "Pull the screen of the laptop with flat black keyboard.",
+    "Raise the top of the black laptop",
+    "Raise the black laptop with shiny display panel to expose the screen",
+    "Fully open the laptop with glossy screen.",
+    "Use the right arm to raise the black laptop with visible hinge.",
+    "Carefully open the laptop with glossy screen using the right arm",
+    "Lift the black laptop's lid upwards.",
+    "Use the right arm to lift the medium-sized black portable laptop",
+    "Grip and lift the portable black laptop with textured casing's lid.",
+    "With the right arm, open the black laptop with visible hinge's lid.",
+    "Raise and open the black laptop with shiny display panel.",
+    "Slide the laptop with glossy screen open with the right arm.",
+    "Raise the smooth laptop with Windows logo underneath's top section.",
+    "Raise the smooth laptop with Windows logo underneath using the right arm.",
+    "Pull the laptop with flat black keyboard's lid upward.",
+    "Pull the lid of the black laptop with shiny display panel upward.",
+    "Open the laptop with glossy screen by lifting its lid.",
+    "Pull up the lid of the black laptop",
+    "Use the right arm to raise the medium-sized black portable laptop.",
+    "Use the right arm to open the laptop with glossy screen",
+    "Raise the black laptop with metallic edges using the right arm.",
+    "Raise the black laptop with visible hinge lid using the right arm.",
+    "Push the black laptop's lid upward using the right arm.",
+    "Pull open the black laptop",
+    "Lift the black laptop with visible hinge to open.",
+    "Fully lift the black laptop with Saturn image on screen using the right arm.",
+    "Lift the black laptop with visible hinge to open it up",
+    "Lift the laptop for typing and computing open with the right arm.",
+    "Pull the black laptop open with the right arm.",
+    "Lift the black laptop with visible hinge lid completely.",
+    "Raise the laptop with flat black keyboard using the right arm firmly.",
+    "Use the right arm to open the medium-sized black portable laptop.",
+    "Lift the portable black laptop with textured casing's lid using the right arm.",
+    "Pull the black laptop upward lightly.",
+    "Gently open the portable black laptop with textured casing.",
+    "Open the laptop with glossy screen carefully with the right arm.",
+    "Open the black laptop with shiny display panel completely.",
+    "Use the right arm to open the black laptop with shiny display panel.",
+    "Lift the portable black laptop with textured casing slightly.",
+    "Raise the black laptop with visible hinge lid with the right arm.",
+    "Lift and open the smooth laptop with Windows logo underneath.",
+    "Gently raise the black laptop with shiny display panel using the right arm.",
+    "Use the right arm to raise the black laptop.",
+    "Gently open the smooth laptop with Windows logo underneath upward.",
+    "Use the right arm to open the black laptop.",
+    "Open the laptop with glossy screen lifting with the right arm",
+    "Open the medium-sized black portable laptop entirely.",
+    "Gently lift the black laptop using the right arm",
+    "Hold the laptop featuring black base and hinged screen steady, lift lid.",
+    "Raise the lid of the laptop featuring black base and hinged screen.",
+    "Pull the screen of the black laptop.",
+    "Raise the top of the laptop with glossy screen",
+    "Raise the black laptop with visible hinge to expose the screen",
+    "Fully open the medium-sized black portable laptop.",
+    "Use the right arm to raise the black laptop with visible hinge.",
+    "Carefully open the black laptop with shiny display panel using the right arm",
+    "Lift the smooth laptop with Windows logo underneath's lid upwards.",
+    "Use the right arm to lift the black laptop with metallic edges",
+    "Grip and lift the laptop featuring black base and hinged screen's lid.",
+    "With the right arm, open the portable black laptop with textured casing's lid.",
+    "Raise and open the black laptop with Saturn image on screen.",
+    "Slide the smooth laptop with Windows logo underneath open with the right arm.",
+    "Raise the smooth laptop with Windows logo underneath's top section.",
+    "Raise the black laptop with shiny display panel using the right arm.",
+    "Pull the black laptop with metallic edges's lid upward.",
+    "Pull the lid of the laptop for typing and computing upward.",
+    "Open the laptop with glossy screen by lifting its lid.",
+    "Pull up the lid of the black laptop with shiny display panel",
+    "Use the right arm to raise the black laptop.",
+    "Use the right arm to open the black laptop with Saturn image on screen",
+    "Raise the black laptop with Saturn image on screen using the right arm.",
+    "Raise the portable black laptop with textured casing lid using the right arm.",
+    "Push the black laptop with metallic edges's lid upward using the right arm.",
+    "Pull open the smooth laptop with Windows logo underneath",
+    "Lift the laptop with flat black keyboard to open.",
+    "Fully lift the black laptop using the right arm.",
+    "Lift the black laptop to open it up",
+    "Lift the black laptop with Saturn image on screen open with the right arm.",
+    "Pull the black laptop with Saturn image on screen open with the right arm.",
+    "Lift the laptop with glossy screen lid completely.",
+    "Raise the portable black laptop with textured casing using the right arm firmly.",
+    "Use the right arm to open the laptop with glossy screen.",
+    "Lift the black laptop with Saturn image on screen's lid using the right arm.",
+    "Pull the black laptop with metallic edges upward lightly.",
+    "Gently open the black laptop with shiny display panel.",
+    "Open the black laptop carefully with the right arm.",
+    "Open the medium-sized black portable laptop completely.",
+    "Use the right arm to open the laptop featuring black base and hinged screen.",
+    "Lift the portable black laptop with textured casing slightly.",
+    "Raise the black laptop with Saturn image on screen lid with the right arm."
+  ],
+  "unseen": [
+    "Open the laptop with colorful screen with care",
+    "Lift the laptop with colorful screen using the right arm",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Grab the laptop with colorful screen and open it.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Grab the thin rectangular laptop and open it.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Open the thin rectangular laptop with care",
+    "Lift the laptop with colorful screen using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the laptop with colorful screen using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Grab the laptop with colorful screen and open it.",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the laptop with colorful screen using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Grab the thin rectangular laptop and open it.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Open the thin rectangular laptop with care",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Grab the thin rectangular laptop and open it.",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Grab the thin rectangular laptop and open it.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000039.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000039.json
new file mode 100644
index 0000000000000000000000000000000000000000..b838f9318238bd4424ba85b97f475cbd9c73b519
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000039.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the laptop with blue screen completely.",
+    "Raise the thin portable laptop using the right arm firmly.",
+    "Slide the plastic orange laptop with metal parts open with the right arm.",
+    "Hold the plastic orange laptop with metal parts steady, lift lid.",
+    "Use the right arm to open the laptop with black hinge area",
+    "Pull up the lid of the laptop with folding lid",
+    "Pull the lid of the hinged screen laptop upward.",
+    "Lift and open the blue screen foldable laptop.",
+    "Grip and lift the blue screen foldable laptop's lid.",
+    "Pull the medium rectangular orange laptop open with the right arm.",
+    "Raise the laptop with blue screen to expose the screen",
+    "Open the laptop with blue screen entirely.",
+    "Raise the top of the blue screen foldable laptop",
+    "Fully lift the plastic orange laptop with metal parts using the right arm.",
+    "Open the laptop with black hinge area by lifting its lid.",
+    "Open the medium rectangular orange laptop carefully with the right arm.",
+    "Lift the laptop with black hinge area's lid using the right arm.",
+    "Fully open the hinged screen laptop.",
+    "Use the right arm to lift the medium rectangular orange laptop",
+    "Lift the laptop with folding lid to open.",
+    "Lift the rectangular laptop with orange body slightly.",
+    "Push the thin portable laptop's lid upward using the right arm.",
+    "Carefully open the blue screen foldable laptop using the right arm",
+    "Raise the foldable laptop's top section.",
+    "Raise the hinged screen laptop lid using the right arm.",
+    "Lift the orange laptop lid completely.",
+    "Open the laptop with blue screen lifting with the right arm",
+    "Use the right arm to open the thin portable laptop.",
+    "Pull the screen of the rectangular laptop with orange body.",
+    "Raise the lid of the plastic orange laptop with metal parts.",
+    "Pull the blue screen portable laptop's lid upward.",
+    "Gently open the laptop with blue screen.",
+    "Use the right arm to raise the plastic orange laptop with metal parts.",
+    "Gently lift the laptop with folding lid using the right arm",
+    "Gently raise the rectangular laptop with orange body using the right arm.",
+    "Use the right arm to open the blue screen portable laptop.",
+    "Gently open the thin portable laptop upward.",
+    "Raise the hinged screen laptop using the right arm.",
+    "Raise and open the thin portable laptop.",
+    "Lift the laptop with folding lid open with the right arm.",
+    "Lift the rectangular laptop with orange body to open it up",
+    "Raise the blue screen foldable laptop using the right arm.",
+    "Pull open the laptop with folding lid",
+    "Use the right arm to open the medium rectangular orange laptop.",
+    "With the right arm, open the laptop with blue screen's lid.",
+    "Use the right arm to raise the laptop with black hinge area.",
+    "Raise the thin portable laptop lid with the right arm.",
+    "Pull the rectangular laptop with orange body upward lightly.",
+    "Use the right arm to raise the laptop with black hinge area.",
+    "Lift the rectangular laptop with orange body's lid upwards.",
+    "Open the blue screen foldable laptop completely.",
+    "Raise the thin portable laptop using the right arm firmly.",
+    "Slide the rectangular laptop with orange body open with the right arm.",
+    "Hold the plastic orange laptop with metal parts steady, lift lid.",
+    "Use the right arm to open the thin portable laptop",
+    "Pull up the lid of the hinged screen laptop",
+    "Pull the lid of the thin portable laptop upward.",
+    "Lift and open the plastic orange laptop with metal parts.",
+    "Grip and lift the plastic orange laptop with metal parts's lid.",
+    "Pull the plastic orange laptop with metal parts open with the right arm.",
+    "Raise the laptop with black hinge area to expose the screen",
+    "Open the medium rectangular orange laptop entirely.",
+    "Raise the top of the rectangular laptop with orange body",
+    "Fully lift the plastic orange laptop with metal parts using the right arm.",
+    "Open the plastic orange laptop with metal parts by lifting its lid.",
+    "Open the foldable laptop carefully with the right arm.",
+    "Lift the medium rectangular orange laptop's lid using the right arm.",
+    "Fully open the foldable laptop.",
+    "Use the right arm to lift the hinged screen laptop",
+    "Lift the medium rectangular orange laptop to open.",
+    "Lift the blue screen portable laptop slightly.",
+    "Push the plastic orange laptop with metal parts's lid upward using the right arm.",
+    "Carefully open the medium rectangular orange laptop using the right arm",
+    "Raise the blue screen foldable laptop's top section.",
+    "Raise the plastic orange laptop with metal parts lid using the right arm.",
+    "Lift the foldable laptop lid completely.",
+    "Open the plastic orange laptop with metal parts lifting with the right arm",
+    "Use the right arm to open the laptop with folding lid.",
+    "Pull the screen of the rectangular laptop with orange body.",
+    "Raise the lid of the plastic orange laptop with metal parts.",
+    "Pull the plastic orange laptop with metal parts's lid upward.",
+    "Gently open the laptop with folding lid.",
+    "Use the right arm to raise the thin portable laptop.",
+    "Gently lift the plastic orange laptop with metal parts using the right arm",
+    "Gently raise the thin portable laptop using the right arm.",
+    "Use the right arm to open the laptop with black hinge area.",
+    "Gently open the laptop with black hinge area upward.",
+    "Raise the orange laptop using the right arm.",
+    "Raise and open the medium rectangular orange laptop.",
+    "Lift the blue screen portable laptop open with the right arm.",
+    "Lift the medium rectangular orange laptop to open it up",
+    "Raise the blue screen foldable laptop using the right arm.",
+    "Pull open the laptop with blue screen",
+    "Use the right arm to open the hinged screen laptop.",
+    "With the right arm, open the medium rectangular orange laptop's lid.",
+    "Use the right arm to raise the hinged screen laptop.",
+    "Raise the orange laptop lid with the right arm.",
+    "Pull the laptop with folding lid upward lightly.",
+    "Use the right arm to raise the laptop with folding lid.",
+    "Lift the rectangular laptop with orange body's lid upwards."
+  ],
+  "unseen": [
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop with care",
+    "Lift the flat orange laptop using the right arm",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the flat orange laptop using the right arm.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the flat orange laptop using the right arm",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop with care",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop with care",
+    "Lift the flat orange laptop using the right arm",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the flat orange laptop using the right arm",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the compact laptop with orange exterior's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000040.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000040.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0fff9191ec12f7ea9d0324ff87c79a49eab255d
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000040.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently open the rectangular laptop with smooth texture upward.",
+    "Open the laptop with wide black lid carefully with the right arm.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Open the laptop with shiny black surface completely.",
+    "Lift and open the clamshell laptop with flat screen.",
+    "Hold the rectangular laptop with folding hinge steady, lift lid.",
+    "Open the black and silver portable laptop by lifting its lid.",
+    "Fully open the rectangular laptop with smooth texture.",
+    "Pull open the black laptop",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Gently open the laptop with wide black lid.",
+    "Raise and open the laptop featuring built-in keyboard.",
+    "Lift the laptop featuring built-in keyboard to open.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Gently raise the black laptop with smooth body using the right arm.",
+    "Pull the rectangular laptop with smooth texture's lid upward.",
+    "Use the right arm to open the rectangular laptop with smooth texture.",
+    "Carefully open the laptop with wide black lid using the right arm",
+    "Pull up the lid of the clamshell laptop with flat screen",
+    "Raise the black laptop with smooth body lid with the right arm.",
+    "With the right arm, open the laptop with wide black lid's lid.",
+    "Raise the lid of the black laptop.",
+    "Grip and lift the laptop with silver buttons on keyboard's lid.",
+    "Gently lift the black laptop using the right arm",
+    "Use the right arm to open the black and silver portable laptop.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Lift the black laptop to open it up",
+    "Use the right arm to lift the laptop with wide black lid",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Open the rectangular laptop with smooth texture entirely.",
+    "Lift the laptop with wide black lid slightly.",
+    "Lift the laptop featuring built-in keyboard's lid using the right arm.",
+    "Use the right arm to raise the black laptop.",
+    "Raise the top of the black laptop with smooth body",
+    "Pull the rectangular laptop with smooth texture open with the right arm.",
+    "Use the right arm to open the laptop with silver keyboard",
+    "Raise the laptop with silver buttons on keyboard's top section.",
+    "Raise the laptop featuring built-in keyboard to expose the screen",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Raise the laptop featuring built-in keyboard using the right arm firmly.",
+    "Lift the laptop with shiny black surface's lid upwards.",
+    "Raise the black laptop lid using the right arm.",
+    "Pull the black and silver portable laptop upward lightly.",
+    "Lift the black laptop open with the right arm.",
+    "Slide the laptop with wide black lid open with the right arm.",
+    "Lift the black laptop lid completely.",
+    "Raise the laptop featuring built-in keyboard using the right arm.",
+    "Open the black laptop lifting with the right arm",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Push the laptop with wide black lid's lid upward using the right arm.",
+    "Gently open the laptop with wide black lid upward.",
+    "Open the laptop with shiny black surface carefully with the right arm.",
+    "Use the right arm to open the clamshell laptop with flat screen.",
+    "Open the laptop featuring built-in keyboard completely.",
+    "Lift and open the laptop with rectangular display screen.",
+    "Hold the laptop with rectangular display screen steady, lift lid.",
+    "Open the rectangular laptop with smooth texture by lifting its lid.",
+    "Fully open the laptop with wide black lid.",
+    "Pull open the laptop with rectangular display screen",
+    "Raise the black laptop using the right arm.",
+    "Gently open the clamshell laptop with flat screen.",
+    "Raise and open the laptop with wide black lid.",
+    "Lift the laptop with rectangular display screen to open.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Gently raise the laptop with silver keyboard using the right arm.",
+    "Pull the laptop with wide black lid's lid upward.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Carefully open the laptop with shiny black surface using the right arm",
+    "Pull up the lid of the laptop with shiny black surface",
+    "Raise the laptop with wide black lid lid with the right arm.",
+    "With the right arm, open the laptop with silver buttons on keyboard's lid.",
+    "Raise the lid of the black laptop.",
+    "Grip and lift the black laptop with smooth body's lid.",
+    "Gently lift the clamshell laptop with flat screen using the right arm",
+    "Use the right arm to open the black and silver portable laptop.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Lift the black laptop with smooth body to open it up",
+    "Use the right arm to lift the rectangular laptop with smooth texture",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Open the laptop with silver keyboard entirely.",
+    "Lift the laptop with silver buttons on keyboard slightly.",
+    "Lift the laptop with silver buttons on keyboard's lid using the right arm.",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Raise the top of the laptop with rectangular display screen",
+    "Pull the black laptop open with the right arm.",
+    "Use the right arm to open the black laptop with smooth body",
+    "Raise the laptop with rectangular display screen's top section.",
+    "Raise the clamshell laptop with flat screen to expose the screen",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Raise the laptop with wide black lid using the right arm firmly.",
+    "Lift the laptop featuring built-in keyboard's lid upwards.",
+    "Raise the black laptop with smooth body lid using the right arm.",
+    "Pull the laptop with wide black lid upward lightly.",
+    "Lift the laptop with rectangular display screen open with the right arm.",
+    "Slide the laptop with rectangular display screen open with the right arm.",
+    "Lift the black laptop lid completely.",
+    "Raise the rectangular laptop with smooth texture using the right arm.",
+    "Open the clamshell laptop with flat screen lifting with the right arm",
+    "Fully lift the rectangular laptop with smooth texture using the right arm.",
+    "Push the laptop featuring built-in keyboard's lid upward using the right arm."
+  ],
+  "unseen": [
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000041.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000041.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ab87a68362383089692fd4dd45ab2e765674fc4
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000041.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently open the laptop featuring built-in keyboard upward.",
+    "Lift the laptop with rectangular display screen slightly.",
+    "Raise and open the laptop with wide black lid.",
+    "Pull the screen of the rectangular laptop with folding hinge.",
+    "Hold the black and silver portable laptop steady, lift lid.",
+    "Pull the lid of the black and silver portable laptop upward.",
+    "Lift the laptop with silver keyboard to open.",
+    "Use the left arm to raise the rectangular laptop with folding hinge.",
+    "Use the left arm to raise the laptop with wide black lid.",
+    "Pull the laptop with rectangular display screen open with the left arm.",
+    "Lift the laptop with rectangular display screen lid completely.",
+    "Open the laptop with rectangular display screen entirely.",
+    "Raise the lid of the clamshell laptop with flat screen.",
+    "Lift the black and silver portable laptop to open it up",
+    "Raise the laptop with silver buttons on keyboard to expose the screen",
+    "Open the rectangular laptop with smooth texture by lifting its lid.",
+    "Raise the top of the black laptop",
+    "Fully open the black laptop with smooth body.",
+    "Lift and open the laptop featuring built-in keyboard.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Raise the rectangular laptop with folding hinge's top section.",
+    "Open the laptop with silver keyboard completely.",
+    "Carefully open the laptop with silver keyboard using the left arm",
+    "Gently open the clamshell laptop with flat screen.",
+    "Raise the laptop with shiny black surface using the left arm firmly.",
+    "Pull the rectangular laptop with smooth texture's lid upward.",
+    "Fully lift the black laptop with smooth body using the left arm.",
+    "Lift the black laptop's lid using the left arm.",
+    "Push the black and silver portable laptop's lid upward using the left arm.",
+    "Pull up the lid of the black and silver portable laptop",
+    "Use the left arm to open the clamshell laptop with flat screen.",
+    "Pull the laptop with silver keyboard upward lightly.",
+    "Slide the laptop featuring built-in keyboard open with the left arm.",
+    "Use the left arm to lift the laptop with silver keyboard",
+    "Use the left arm to open the laptop with silver buttons on keyboard",
+    "Lift the black laptop with smooth body open with the left arm.",
+    "Lift the black laptop's lid upwards.",
+    "With the left arm, open the rectangular laptop with folding hinge's lid.",
+    "Pull open the laptop with shiny black surface",
+    "Use the left arm to raise the black laptop with smooth body.",
+    "Open the clamshell laptop with flat screen carefully with the left arm.",
+    "Raise the laptop with silver buttons on keyboard lid using the left arm.",
+    "Open the black laptop with smooth body lifting with the left arm",
+    "Gently raise the laptop with wide black lid using the left arm.",
+    "Raise the rectangular laptop with smooth texture lid with the left arm.",
+    "Raise the laptop with rectangular display screen using the left arm.",
+    "Gently lift the black laptop using the left arm",
+    "Use the left arm to open the clamshell laptop with flat screen.",
+    "Grip and lift the clamshell laptop with flat screen's lid.",
+    "Raise the laptop with silver keyboard using the left arm.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Lift the laptop with shiny black surface slightly.",
+    "Raise and open the laptop with silver keyboard.",
+    "Pull the screen of the black laptop with smooth body.",
+    "Hold the black laptop steady, lift lid.",
+    "Pull the lid of the rectangular laptop with folding hinge upward.",
+    "Lift the laptop featuring built-in keyboard to open.",
+    "Use the left arm to raise the black laptop with smooth body.",
+    "Use the left arm to raise the laptop featuring built-in keyboard.",
+    "Pull the laptop with silver buttons on keyboard open with the left arm.",
+    "Lift the clamshell laptop with flat screen lid completely.",
+    "Open the rectangular laptop with smooth texture entirely.",
+    "Raise the lid of the rectangular laptop with smooth texture.",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Raise the rectangular laptop with folding hinge to expose the screen",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Raise the top of the laptop with silver buttons on keyboard",
+    "Fully open the rectangular laptop with smooth texture.",
+    "Lift and open the laptop featuring built-in keyboard.",
+    "Use the left arm to open the laptop with shiny black surface.",
+    "Raise the laptop with shiny black surface's top section.",
+    "Open the black and silver portable laptop completely.",
+    "Carefully open the laptop with rectangular display screen using the left arm",
+    "Gently open the clamshell laptop with flat screen.",
+    "Raise the laptop with shiny black surface using the left arm firmly.",
+    "Pull the laptop with silver buttons on keyboard's lid upward.",
+    "Fully lift the black laptop with smooth body using the left arm.",
+    "Lift the laptop featuring built-in keyboard's lid using the left arm.",
+    "Push the rectangular laptop with smooth texture's lid upward using the left arm.",
+    "Pull up the lid of the laptop with shiny black surface",
+    "Use the left arm to open the rectangular laptop with smooth texture.",
+    "Pull the laptop featuring built-in keyboard upward lightly.",
+    "Slide the laptop with wide black lid open with the left arm.",
+    "Use the left arm to lift the rectangular laptop with smooth texture",
+    "Use the left arm to open the laptop with silver buttons on keyboard",
+    "Lift the laptop with wide black lid open with the left arm.",
+    "Lift the rectangular laptop with smooth texture's lid upwards.",
+    "With the left arm, open the laptop with silver keyboard's lid.",
+    "Pull open the black laptop with smooth body",
+    "Use the left arm to raise the laptop with rectangular display screen.",
+    "Open the clamshell laptop with flat screen carefully with the left arm.",
+    "Raise the laptop with shiny black surface lid using the left arm.",
+    "Open the laptop with wide black lid lifting with the left arm",
+    "Gently raise the clamshell laptop with flat screen using the left arm.",
+    "Raise the laptop with silver buttons on keyboard lid with the left arm.",
+    "Raise the clamshell laptop with flat screen using the left arm.",
+    "Gently lift the laptop with wide black lid using the left arm",
+    "Use the left arm to open the laptop with shiny black surface.",
+    "Grip and lift the black laptop with smooth body's lid.",
+    "Raise the clamshell laptop with flat screen using the left arm."
+  ],
+  "unseen": [
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Lift the medium laptop with black case using the left arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Lift the medium laptop with black case using the left arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case using the left arm.",
+    "Lift the medium laptop with black case using the left arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case using the left arm.",
+    "Lift the medium laptop with black case using the left arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case using the left arm.",
+    "Lift the medium laptop with black case using the left arm",
+    "Lift the laptop with black cover and bottom's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000042.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000042.json
new file mode 100644
index 0000000000000000000000000000000000000000..570ded419d64a0710c1dd528c49afece3a648b74
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000042.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the laptop with shiny black surface by lifting its lid.",
+    "Pull the black and silver portable laptop's lid upward.",
+    "Gently open the laptop with silver buttons on keyboard.",
+    "Grip and lift the laptop with wide black lid's lid.",
+    "With the right arm, open the laptop with shiny black surface's lid.",
+    "Raise the laptop with rectangular display screen lid using the right arm.",
+    "Lift the rectangular laptop with smooth texture lid completely.",
+    "Push the laptop with silver buttons on keyboard's lid upward using the right arm.",
+    "Hold the rectangular laptop with folding hinge steady, lift lid.",
+    "Raise the clamshell laptop with flat screen's top section.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Pull the screen of the laptop with wide black lid.",
+    "Raise and open the laptop with silver buttons on keyboard.",
+    "Lift the rectangular laptop with folding hinge's lid using the right arm.",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Open the black laptop with smooth body entirely.",
+    "Pull the laptop with wide black lid open with the right arm.",
+    "Raise the laptop with wide black lid lid with the right arm.",
+    "Pull open the black laptop",
+    "Lift and open the laptop with rectangular display screen.",
+    "Use the right arm to open the black laptop",
+    "Gently open the laptop featuring built-in keyboard upward.",
+    "Raise the lid of the rectangular laptop with folding hinge.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Open the laptop with wide black lid completely.",
+    "Lift the laptop with silver buttons on keyboard slightly.",
+    "Use the right arm to open the black and silver portable laptop.",
+    "Use the right arm to lift the laptop featuring built-in keyboard",
+    "Lift the rectangular laptop with folding hinge open with the right arm.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Gently raise the laptop with silver buttons on keyboard using the right arm.",
+    "Use the right arm to open the black laptop with smooth body.",
+    "Open the black laptop carefully with the right arm.",
+    "Lift the laptop with shiny black surface's lid upwards.",
+    "Fully lift the rectangular laptop with smooth texture using the right arm.",
+    "Gently lift the laptop with silver buttons on keyboard using the right arm",
+    "Raise the rectangular laptop with folding hinge using the right arm.",
+    "Slide the rectangular laptop with folding hinge open with the right arm.",
+    "Raise the laptop with silver buttons on keyboard to expose the screen",
+    "Fully open the laptop with silver buttons on keyboard.",
+    "Open the clamshell laptop with flat screen lifting with the right arm",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Pull the lid of the rectangular laptop with smooth texture upward.",
+    "Pull the rectangular laptop with smooth texture upward lightly.",
+    "Carefully open the laptop with rectangular display screen using the right arm",
+    "Lift the black laptop to open.",
+    "Raise the rectangular laptop with folding hinge using the right arm.",
+    "Raise the top of the black laptop",
+    "Open the laptop with rectangular display screen by lifting its lid.",
+    "Pull the laptop with silver buttons on keyboard's lid upward.",
+    "Gently open the clamshell laptop with flat screen.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "With the right arm, open the laptop with shiny black surface's lid.",
+    "Raise the laptop with silver buttons on keyboard lid using the right arm.",
+    "Lift the laptop with wide black lid lid completely.",
+    "Push the laptop with shiny black surface's lid upward using the right arm.",
+    "Hold the laptop with silver buttons on keyboard steady, lift lid.",
+    "Raise the laptop with shiny black surface's top section.",
+    "Pull up the lid of the laptop with shiny black surface",
+    "Pull the screen of the black and silver portable laptop.",
+    "Raise and open the rectangular laptop with smooth texture.",
+    "Lift the laptop featuring built-in keyboard's lid using the right arm.",
+    "Lift the laptop with shiny black surface to open it up",
+    "Open the laptop with shiny black surface entirely.",
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Raise the laptop with silver buttons on keyboard lid with the right arm.",
+    "Pull open the laptop with silver buttons on keyboard",
+    "Lift and open the laptop with shiny black surface.",
+    "Use the right arm to open the rectangular laptop with folding hinge",
+    "Gently open the laptop featuring built-in keyboard upward.",
+    "Raise the lid of the rectangular laptop with folding hinge.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Raise the laptop featuring built-in keyboard using the right arm firmly.",
+    "Open the rectangular laptop with smooth texture completely.",
+    "Lift the laptop with rectangular display screen slightly.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Use the right arm to lift the black and silver portable laptop",
+    "Lift the black laptop with smooth body open with the right arm.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Gently raise the laptop with rectangular display screen using the right arm.",
+    "Use the right arm to open the rectangular laptop with smooth texture.",
+    "Open the laptop with silver keyboard carefully with the right arm.",
+    "Lift the black and silver portable laptop's lid upwards.",
+    "Fully lift the rectangular laptop with folding hinge using the right arm.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Raise the laptop featuring built-in keyboard using the right arm.",
+    "Slide the laptop with silver buttons on keyboard open with the right arm.",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Fully open the laptop with silver keyboard.",
+    "Open the black and silver portable laptop lifting with the right arm",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Pull the lid of the rectangular laptop with folding hinge upward.",
+    "Pull the black laptop with smooth body upward lightly.",
+    "Carefully open the laptop with silver buttons on keyboard using the right arm",
+    "Lift the laptop with rectangular display screen to open.",
+    "Raise the black and silver portable laptop using the right arm.",
+    "Raise the top of the laptop with silver buttons on keyboard"
+  ],
+  "unseen": [
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the medium laptop with black case using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the medium laptop with black case using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000043.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000043.json
new file mode 100644
index 0000000000000000000000000000000000000000..47408c222d079764e8383a6bb96c3760dbbf47d3
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000043.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized laptop lid completely.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Pull open the laptop with silver keyboard",
+    "Open the black and silver laptop by lifting its lid.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Open the rectangular laptop with Toshiba logo carefully with the right arm.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Use the right arm to lift the black and silver laptop",
+    "Open the black and silver laptop completely.",
+    "Raise the black laptop with reflective screen using the right arm firmly.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Fully lift the Toshiba laptop with folding design using the right arm.",
+    "Hold the medium-sized laptop steady, lift lid.",
+    "Pull the portable folding laptop's lid upward.",
+    "Lift the compact black and silver computer to open.",
+    "Fully open the black and silver laptop.",
+    "Pull the portable folding laptop open with the right arm.",
+    "Lift the Toshiba laptop with folding design open with the right arm.",
+    "Slide the laptop with silver keyboard open with the right arm.",
+    "Pull up the lid of the Toshiba laptop with folding design",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Gently raise the folding laptop with screen and keyboard using the right arm.",
+    "Raise the Toshiba laptop with folding design lid with the right arm.",
+    "Raise the lid of the rectangular laptop with Toshiba logo.",
+    "Raise the silver keyboard laptop using the right arm.",
+    "Open the folding laptop with screen and keyboard lifting with the right arm",
+    "Raise the top of the device with flat keyboard and screen",
+    "With the right arm, open the rectangular laptop with Toshiba logo's lid.",
+    "Push the matte laptop with smooth screen's lid upward using the right arm.",
+    "Raise the black and silver laptop's top section.",
+    "Lift the silver keyboard laptop slightly.",
+    "Grip and lift the folding laptop with screen and keyboard's lid.",
+    "Raise the portable folding laptop to expose the screen",
+    "Gently open the medium-sized laptop.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Raise the Toshiba laptop with folding design using the right arm.",
+    "Raise the Toshiba laptop with folding design lid using the right arm.",
+    "Lift the matte laptop with smooth screen to open it up",
+    "Pull the screen of the compact black and silver computer.",
+    "Use the right arm to open the portable folding laptop",
+    "Gently open the black and silver laptop upward.",
+    "Pull the portable folding laptop upward lightly.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Gently lift the portable folding laptop using the right arm",
+    "Lift and open the black and silver laptop.",
+    "Raise and open the Toshiba laptop with folding design.",
+    "Lift the black laptop with reflective screen lid completely.",
+    "Use the right arm to open the black and silver laptop.",
+    "Pull open the rectangular laptop with Toshiba logo",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Open the rectangular laptop with Toshiba logo carefully with the right arm.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Use the right arm to lift the portable folding laptop",
+    "Open the medium-sized laptop completely.",
+    "Raise the silver keyboard laptop using the right arm firmly.",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Hold the black laptop with reflective screen steady, lift lid.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Lift the portable folding laptop to open.",
+    "Fully open the compact black and silver computer.",
+    "Pull the portable folding laptop open with the right arm.",
+    "Lift the Toshiba laptop with folding design open with the right arm.",
+    "Slide the Toshiba laptop with folding design open with the right arm.",
+    "Pull up the lid of the compact black and silver computer",
+    "Carefully open the compact black and silver computer using the right arm",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Gently raise the matte laptop with smooth screen using the right arm.",
+    "Raise the compact black and silver computer lid with the right arm.",
+    "Raise the lid of the black and silver laptop.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Open the black laptop with reflective screen lifting with the right arm",
+    "Raise the top of the Toshiba laptop with folding design",
+    "With the right arm, open the device with flat keyboard and screen's lid.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Raise the compact black and silver computer's top section.",
+    "Lift the Toshiba laptop with folding design slightly.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Raise the black laptop with reflective screen to expose the screen",
+    "Gently open the black and silver laptop.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Raise the device with flat keyboard and screen using the right arm.",
+    "Raise the black and silver laptop lid using the right arm.",
+    "Lift the compact black and silver computer to open it up",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Use the right arm to open the silver keyboard laptop",
+    "Gently open the compact black and silver computer upward.",
+    "Pull the silver keyboard laptop upward lightly.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the matte laptop with smooth screen's lid using the right arm.",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Lift and open the medium-sized laptop.",
+    "Raise and open the Toshiba laptop with folding design."
+  ],
+  "unseen": [
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000044.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000044.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a7e4e951039b1d1dc779e80a03409d552b1c8d6
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000044.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to open the laptop with black textured screen.",
+    "Pull the silver laptop with foldable parts's lid upward.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Lift the wood surrounded laptop's lid upwards.",
+    "Lift the silver laptop open with the right arm.",
+    "Use the right arm to open the silver laptop with black keyboard.",
+    "Use the right arm to raise the smooth textured laptop.",
+    "Pull the screen of the silver laptop.",
+    "Raise the black screen laptop using the right arm firmly.",
+    "Pull the keyboard laptop open with the right arm.",
+    "Raise the lid of the smooth textured laptop.",
+    "Open the medium foldable silver laptop completely.",
+    "Open the silver laptop with black keyboard entirely.",
+    "Raise the silver laptop with foldable parts using the right arm.",
+    "Lift and open the laptop with wood panel background.",
+    "Raise the wood surrounded laptop using the right arm.",
+    "Open the silver laptop with black keyboard lifting with the right arm",
+    "Use the right arm to raise the silver laptop with black keyboard.",
+    "Open the black and silver laptop carefully with the right arm.",
+    "Pull up the lid of the silver laptop with foldable parts",
+    "Lift the metal laptop to open it up",
+    "Lift the laptop with wood panel background lid completely.",
+    "Fully open the laptop with black textured screen.",
+    "Pull open the silver laptop",
+    "Pull the laptop with black textured screen upward lightly.",
+    "Pull the lid of the laptop with wood panel background upward.",
+    "Grip and lift the smooth textured laptop's lid.",
+    "Raise the medium foldable silver laptop lid using the right arm.",
+    "Carefully open the medium foldable silver laptop using the right arm",
+    "Push the silver laptop with foldable parts's lid upward using the right arm.",
+    "Gently open the silver laptop.",
+    "Use the right arm to lift the silver laptop with foldable parts",
+    "Hold the silver laptop steady, lift lid.",
+    "Lift the black and silver laptop's lid using the right arm.",
+    "Raise the silver laptop's top section.",
+    "Open the wood surrounded laptop by lifting its lid.",
+    "Gently lift the keyboard laptop using the right arm",
+    "Lift the keyboard laptop to open.",
+    "Gently open the laptop with black textured screen upward.",
+    "Raise the black screen laptop lid with the right arm.",
+    "Gently raise the black and silver laptop using the right arm.",
+    "Raise the top of the silver laptop with black keyboard",
+    "With the right arm, open the metal laptop's lid.",
+    "Use the right arm to open the silver laptop with foldable parts",
+    "Lift the laptop with black textured screen slightly.",
+    "Raise and open the metal laptop.",
+    "Use the right arm to open the laptop with black textured screen.",
+    "Fully lift the black screen laptop using the right arm.",
+    "Slide the smooth textured laptop open with the right arm.",
+    "Raise the black and silver laptop to expose the screen",
+    "Use the right arm to open the silver laptop with black keyboard.",
+    "Pull the silver laptop's lid upward.",
+    "Use the right arm to raise the smooth textured laptop.",
+    "Lift the silver laptop with foldable parts's lid upwards.",
+    "Lift the black and silver laptop open with the right arm.",
+    "Use the right arm to open the smooth textured laptop.",
+    "Use the right arm to raise the keyboard laptop.",
+    "Pull the screen of the silver laptop with black keyboard.",
+    "Raise the silver laptop using the right arm firmly.",
+    "Pull the black and silver laptop open with the right arm.",
+    "Raise the lid of the silver laptop with black keyboard.",
+    "Open the laptop with black textured screen completely.",
+    "Open the black screen laptop entirely.",
+    "Raise the silver laptop using the right arm.",
+    "Lift and open the laptop with wood panel background.",
+    "Raise the medium foldable silver laptop using the right arm.",
+    "Open the laptop with wood panel background lifting with the right arm",
+    "Use the right arm to raise the medium foldable silver laptop.",
+    "Open the smooth textured laptop carefully with the right arm.",
+    "Pull up the lid of the keyboard laptop",
+    "Lift the silver laptop with black keyboard to open it up",
+    "Lift the silver laptop with foldable parts lid completely.",
+    "Fully open the silver laptop.",
+    "Pull open the silver laptop with foldable parts",
+    "Pull the medium foldable silver laptop upward lightly.",
+    "Pull the lid of the metal laptop upward.",
+    "Grip and lift the medium foldable silver laptop's lid.",
+    "Raise the keyboard laptop lid using the right arm.",
+    "Carefully open the wood surrounded laptop using the right arm",
+    "Push the silver laptop's lid upward using the right arm.",
+    "Gently open the black screen laptop.",
+    "Use the right arm to lift the black screen laptop",
+    "Hold the laptop with black textured screen steady, lift lid.",
+    "Lift the smooth textured laptop's lid using the right arm.",
+    "Raise the keyboard laptop's top section.",
+    "Open the medium foldable silver laptop by lifting its lid.",
+    "Gently lift the medium foldable silver laptop using the right arm",
+    "Lift the wood surrounded laptop to open.",
+    "Gently open the medium foldable silver laptop upward.",
+    "Raise the silver laptop lid with the right arm.",
+    "Gently raise the black screen laptop using the right arm.",
+    "Raise the top of the keyboard laptop",
+    "With the right arm, open the black screen laptop's lid.",
+    "Use the right arm to open the smooth textured laptop",
+    "Lift the smooth textured laptop slightly.",
+    "Raise and open the metal laptop.",
+    "Use the right arm to open the laptop with black textured screen.",
+    "Fully lift the laptop with black textured screen using the right arm.",
+    "Slide the silver laptop open with the right arm.",
+    "Raise the smooth textured laptop to expose the screen"
+  ],
+  "unseen": [
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000045.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000045.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bd2a548cb4126e1f198fdc3707bd9e1d37931f1
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000045.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the thin portable laptop completely.",
+    "Raise the foldable laptop lid using the right arm.",
+    "Raise and open the blue screen foldable laptop.",
+    "Slide the hinged screen laptop open with the right arm.",
+    "Open the rectangular laptop with orange body by lifting its lid.",
+    "Raise the thin portable laptop using the right arm firmly.",
+    "Pull up the lid of the plastic orange laptop with metal parts",
+    "Pull the laptop with black hinge area upward lightly.",
+    "Fully open the thin portable laptop.",
+    "Open the laptop with blue screen entirely.",
+    "Open the blue screen portable laptop carefully with the right arm.",
+    "Raise the rectangular laptop with orange body to expose the screen",
+    "Lift the plastic orange laptop with metal parts slightly.",
+    "Use the right arm to open the orange laptop.",
+    "Open the hinged screen laptop lifting with the right arm",
+    "Raise the lid of the foldable laptop.",
+    "Gently open the laptop with folding lid upward.",
+    "Use the right arm to open the laptop with black hinge area.",
+    "Lift the foldable laptop lid completely.",
+    "Use the right arm to raise the foldable laptop.",
+    "Lift the laptop with folding lid open with the right arm.",
+    "Raise the blue screen portable laptop's top section.",
+    "Gently open the laptop with blue screen.",
+    "Pull the screen of the thin portable laptop.",
+    "Pull the thin portable laptop's lid upward.",
+    "Use the right arm to open the blue screen foldable laptop.",
+    "Raise the plastic orange laptop with metal parts lid with the right arm.",
+    "Pull open the plastic orange laptop with metal parts",
+    "Raise the laptop with folding lid using the right arm.",
+    "Use the right arm to raise the laptop with folding lid.",
+    "Fully lift the blue screen foldable laptop using the right arm.",
+    "Grip and lift the hinged screen laptop's lid.",
+    "Lift the laptop with folding lid's lid using the right arm.",
+    "Gently lift the blue screen foldable laptop using the right arm",
+    "Lift the foldable laptop's lid upwards.",
+    "Push the plastic orange laptop with metal parts's lid upward using the right arm.",
+    "Lift the foldable laptop to open it up",
+    "Lift the laptop with black hinge area to open.",
+    "Lift and open the laptop with folding lid.",
+    "Pull the rectangular laptop with orange body open with the right arm.",
+    "Hold the laptop with blue screen steady, lift lid.",
+    "Use the right arm to raise the laptop with black hinge area.",
+    "Raise the top of the medium rectangular orange laptop",
+    "With the right arm, open the orange laptop's lid.",
+    "Pull the lid of the orange laptop upward.",
+    "Raise the blue screen foldable laptop using the right arm.",
+    "Use the right arm to open the thin portable laptop",
+    "Carefully open the blue screen portable laptop using the right arm",
+    "Gently raise the foldable laptop using the right arm.",
+    "Use the right arm to lift the medium rectangular orange laptop",
+    "Open the rectangular laptop with orange body completely.",
+    "Raise the hinged screen laptop lid using the right arm.",
+    "Raise and open the blue screen foldable laptop.",
+    "Slide the laptop with blue screen open with the right arm.",
+    "Open the thin portable laptop by lifting its lid.",
+    "Raise the rectangular laptop with orange body using the right arm firmly.",
+    "Pull up the lid of the laptop with folding lid",
+    "Pull the blue screen foldable laptop upward lightly.",
+    "Fully open the hinged screen laptop.",
+    "Open the orange laptop entirely.",
+    "Open the plastic orange laptop with metal parts carefully with the right arm.",
+    "Raise the medium rectangular orange laptop to expose the screen",
+    "Lift the thin portable laptop slightly.",
+    "Use the right arm to open the laptop with folding lid.",
+    "Open the orange laptop lifting with the right arm",
+    "Raise the lid of the foldable laptop.",
+    "Gently open the laptop with black hinge area upward.",
+    "Use the right arm to open the laptop with black hinge area.",
+    "Lift the orange laptop lid completely.",
+    "Use the right arm to raise the rectangular laptop with orange body.",
+    "Lift the hinged screen laptop open with the right arm.",
+    "Raise the hinged screen laptop's top section.",
+    "Gently open the rectangular laptop with orange body.",
+    "Pull the screen of the medium rectangular orange laptop.",
+    "Pull the rectangular laptop with orange body's lid upward.",
+    "Use the right arm to open the hinged screen laptop.",
+    "Raise the foldable laptop lid with the right arm.",
+    "Pull open the laptop with black hinge area",
+    "Raise the laptop with blue screen using the right arm.",
+    "Use the right arm to raise the blue screen foldable laptop.",
+    "Fully lift the laptop with folding lid using the right arm.",
+    "Grip and lift the foldable laptop's lid.",
+    "Lift the laptop with black hinge area's lid using the right arm.",
+    "Gently lift the medium rectangular orange laptop using the right arm",
+    "Lift the plastic orange laptop with metal parts's lid upwards.",
+    "Push the orange laptop's lid upward using the right arm.",
+    "Lift the laptop with blue screen to open it up",
+    "Lift the laptop with folding lid to open.",
+    "Lift and open the blue screen foldable laptop.",
+    "Pull the foldable laptop open with the right arm.",
+    "Hold the orange laptop steady, lift lid.",
+    "Use the right arm to raise the blue screen foldable laptop.",
+    "Raise the top of the laptop with folding lid",
+    "With the right arm, open the plastic orange laptop with metal parts's lid.",
+    "Pull the lid of the foldable laptop upward.",
+    "Raise the laptop with folding lid using the right arm.",
+    "Use the right arm to open the foldable laptop",
+    "Carefully open the hinged screen laptop using the right arm",
+    "Gently raise the laptop with blue screen using the right arm.",
+    "Use the right arm to lift the blue screen portable laptop"
+  ],
+  "unseen": [
+    "Lift the flat orange laptop using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the compact laptop with orange exterior with care",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the laptop with smooth surfaces with care",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the laptop with smooth surfaces with care",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the flat orange laptop with care",
+    "Open the flat orange laptop with one motion.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the flat orange laptop with care",
+    "Open the flat orange laptop with one motion.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the compact laptop with orange exterior with care",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Open the flat orange laptop with care",
+    "Open the flat orange laptop with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Open the compact laptop with orange exterior with care",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the laptop with smooth surfaces with care",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Open the flat orange laptop with care",
+    "Open the flat orange laptop with one motion.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the flat orange laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000046.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000046.json
new file mode 100644
index 0000000000000000000000000000000000000000..38c076b73daf4902b2858a6def4cdbf32e3b7c4c
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000046.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the black laptop with smooth matte surface carefully with the left arm.",
+    "Pull up the lid of the black laptop with hinge mechanism",
+    "Grip and lift the foldable black laptop's lid.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Carefully open the black laptop with red Toshiba logo using the left arm",
+    "Pull open the foldable black laptop",
+    "Lift the Toshiba laptop open with the left arm.",
+    "Fully open the sleek black Toshiba computing laptop.",
+    "Pull the lid of the portable folding Toshiba laptop upward.",
+    "Lift the sleek black Toshiba computing laptop lid completely.",
+    "Lift the Toshiba laptop with rectangular screen to open it up",
+    "Pull the black laptop upward lightly.",
+    "With the left arm, open the black laptop with red Toshiba logo's lid.",
+    "Fully lift the black laptop with hinge mechanism using the left arm.",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "Open the black laptop with smooth matte surface completely.",
+    "Use the left arm to raise the medium black rectangular laptop.",
+    "Use the left arm to raise the medium black rectangular laptop.",
+    "Raise the black laptop lid with the left arm.",
+    "Gently raise the black laptop using the left arm.",
+    "Push the Toshiba laptop's lid upward using the left arm.",
+    "Use the left arm to open the medium black rectangular laptop.",
+    "Raise the top of the black laptop",
+    "Hold the sleek black Toshiba computing laptop steady, lift lid.",
+    "Use the left arm to open the Toshiba laptop",
+    "Raise the lid of the black laptop with red Toshiba logo.",
+    "Raise the black laptop with smooth matte surface's top section.",
+    "Lift and open the foldable black laptop.",
+    "Raise the medium black rectangular laptop using the left arm firmly.",
+    "Gently open the black laptop with hinge mechanism upward.",
+    "Gently lift the black laptop with red text underneath using the left arm",
+    "Slide the black laptop with smooth matte surface open with the left arm.",
+    "Lift the black laptop with red text underneath slightly.",
+    "Lift the portable folding Toshiba laptop's lid using the left arm.",
+    "Pull the sleek black Toshiba computing laptop's lid upward.",
+    "Raise the black laptop with red Toshiba logo using the left arm.",
+    "Use the left arm to raise the black laptop.",
+    "Raise the black laptop with red text underneath using the left arm.",
+    "Open the black laptop with red Toshiba logo lifting with the left arm",
+    "Open the Toshiba laptop with rectangular screen by lifting its lid.",
+    "Use the left arm to lift the folding laptop with screen and keyboard",
+    "Pull the Toshiba laptop open with the left arm.",
+    "Raise the Toshiba laptop with rectangular screen lid using the left arm.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Gently open the medium black rectangular laptop.",
+    "Lift the folding laptop with screen and keyboard's lid upwards.",
+    "Pull the screen of the Toshiba laptop.",
+    "Open the black laptop with hinge mechanism entirely.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Raise and open the black laptop with red text underneath.",
+    "Open the foldable black laptop carefully with the left arm.",
+    "Pull up the lid of the foldable black laptop",
+    "Grip and lift the portable folding Toshiba laptop's lid.",
+    "Raise the sleek black Toshiba computing laptop to expose the screen",
+    "Carefully open the sleek black Toshiba computing laptop using the left arm",
+    "Pull open the black laptop with smooth matte surface",
+    "Lift the Toshiba laptop with rectangular screen open with the left arm.",
+    "Fully open the black laptop.",
+    "Pull the lid of the black laptop with hinge mechanism upward.",
+    "Lift the medium black rectangular laptop lid completely.",
+    "Lift the black laptop with hinge mechanism to open it up",
+    "Pull the foldable black laptop upward lightly.",
+    "With the left arm, open the folding laptop with screen and keyboard's lid.",
+    "Fully lift the black laptop with red text underneath using the left arm.",
+    "Use the left arm to open the Toshiba laptop.",
+    "Open the sleek black Toshiba computing laptop completely.",
+    "Use the left arm to raise the Toshiba laptop with rectangular screen.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Raise the Toshiba laptop with rectangular screen lid with the left arm.",
+    "Gently raise the medium black rectangular laptop using the left arm.",
+    "Push the black laptop with red Toshiba logo's lid upward using the left arm.",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "Raise the top of the black laptop",
+    "Hold the black laptop steady, lift lid.",
+    "Use the left arm to open the Toshiba laptop",
+    "Raise the lid of the Toshiba laptop.",
+    "Raise the black laptop's top section.",
+    "Lift and open the Toshiba laptop with rectangular screen.",
+    "Raise the black laptop with hinge mechanism using the left arm firmly.",
+    "Gently open the black laptop with hinge mechanism upward.",
+    "Gently lift the black laptop with smooth matte surface using the left arm",
+    "Slide the black laptop with smooth matte surface open with the left arm.",
+    "Lift the sleek black Toshiba computing laptop slightly.",
+    "Lift the black laptop's lid using the left arm.",
+    "Pull the black laptop's lid upward.",
+    "Raise the sleek black Toshiba computing laptop using the left arm.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Raise the black laptop using the left arm.",
+    "Open the Toshiba laptop lifting with the left arm",
+    "Open the black laptop with hinge mechanism by lifting its lid.",
+    "Use the left arm to lift the Toshiba laptop with rectangular screen",
+    "Pull the black laptop with hinge mechanism open with the left arm.",
+    "Raise the black laptop with red Toshiba logo lid using the left arm.",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "Gently open the black laptop.",
+    "Lift the portable folding Toshiba laptop's lid upwards.",
+    "Pull the screen of the Toshiba laptop with rectangular screen.",
+    "Open the portable folding Toshiba laptop entirely.",
+    "Lift the sleek black Toshiba computing laptop to open.",
+    "Raise and open the black laptop."
+  ],
+  "unseen": [
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000047.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000047.json
new file mode 100644
index 0000000000000000000000000000000000000000..84f1330171a30fe16ae88a5e99477e7481b2792d
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000047.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently open the laptop with black keyboard upward.",
+    "Open the laptop with black keyboard entirely.",
+    "Hold the metal laptop with black keys steady, lift lid.",
+    "Use the right arm to raise the slim laptop.",
+    "Raise the laptop with black keyboard lid with the right arm.",
+    "Raise the slim laptop using the right arm firmly.",
+    "Use the right arm to open the laptop with black keyboard.",
+    "Open the slim laptop carefully with the right arm.",
+    "Open the portable slim laptop completely.",
+    "Use the right arm to open the slim laptop.",
+    "Open the laptop with black keyboard by lifting its lid.",
+    "Lift the rectangular laptop with screen slightly.",
+    "Lift the laptop with metallic finish to open it up",
+    "Pull the compact silver laptop's lid upward.",
+    "Pull the lid of the laptop with smooth surface upward.",
+    "Raise the lid of the portable slim laptop.",
+    "Open the laptop with metallic finish lifting with the right arm",
+    "Raise the rectangular laptop with screen's top section.",
+    "Grip and lift the laptop with foldable screen design's lid.",
+    "Raise the slim laptop lid using the right arm.",
+    "Lift the metal laptop with black keys open with the right arm.",
+    "Use the right arm to lift the laptop with metallic finish",
+    "With the right arm, open the medium-sized silver laptop's lid.",
+    "Pull open the laptop with smooth surface",
+    "Gently lift the metal laptop with black keys using the right arm",
+    "Raise the laptop with smooth surface using the right arm.",
+    "Gently open the medium-sized silver laptop.",
+    "Use the right arm to raise the laptop with foldable screen design.",
+    "Pull the portable slim laptop open with the right arm.",
+    "Raise and open the laptop with foldable screen design.",
+    "Slide the laptop with smooth surface open with the right arm.",
+    "Use the right arm to open the compact silver laptop.",
+    "Lift and open the silver laptop with dark keys.",
+    "Raise the rectangular laptop with screen to expose the screen",
+    "Raise the top of the lightweight silver laptop",
+    "Use the right arm to raise the medium-sized silver laptop.",
+    "Lift the laptop with foldable screen design lid completely.",
+    "Use the right arm to open the slim laptop",
+    "Lift the medium-sized silver laptop to open.",
+    "Pull the lightweight silver laptop upward lightly.",
+    "Pull the screen of the slim laptop.",
+    "Fully lift the medium-sized silver laptop using the right arm.",
+    "Gently raise the portable slim laptop using the right arm.",
+    "Fully open the laptop with metallic finish.",
+    "Pull up the lid of the lightweight silver laptop",
+    "Carefully open the medium-sized silver laptop using the right arm",
+    "Lift the portable slim laptop's lid using the right arm.",
+    "Raise the compact silver laptop using the right arm.",
+    "Push the medium-sized silver laptop's lid upward using the right arm.",
+    "Lift the laptop with metallic finish's lid upwards.",
+    "Gently open the laptop with metallic finish upward.",
+    "Open the silver laptop with dark keys entirely.",
+    "Hold the laptop with black keyboard steady, lift lid.",
+    "Use the right arm to raise the laptop with smooth surface.",
+    "Raise the metal laptop with black keys lid with the right arm.",
+    "Raise the laptop with black keyboard using the right arm firmly.",
+    "Use the right arm to open the slim laptop.",
+    "Open the rectangular laptop with screen carefully with the right arm.",
+    "Open the slim laptop completely.",
+    "Use the right arm to open the compact silver laptop.",
+    "Open the laptop with smooth surface by lifting its lid.",
+    "Lift the laptop with foldable screen design slightly.",
+    "Lift the silver laptop with dark keys to open it up",
+    "Pull the silver laptop with dark keys's lid upward.",
+    "Pull the lid of the laptop with smooth surface upward.",
+    "Raise the lid of the slim laptop.",
+    "Open the slim laptop lifting with the right arm",
+    "Raise the laptop with smooth surface's top section.",
+    "Grip and lift the laptop with smooth surface's lid.",
+    "Raise the lightweight silver laptop lid using the right arm.",
+    "Lift the medium-sized silver laptop open with the right arm.",
+    "Use the right arm to lift the compact silver laptop",
+    "With the right arm, open the silver laptop with dark keys's lid.",
+    "Pull open the rectangular laptop with screen",
+    "Gently lift the laptop with black keyboard using the right arm",
+    "Raise the slim laptop using the right arm.",
+    "Gently open the medium-sized silver laptop.",
+    "Use the right arm to raise the slim laptop.",
+    "Pull the laptop with smooth surface open with the right arm.",
+    "Raise and open the compact silver laptop.",
+    "Slide the medium-sized silver laptop open with the right arm.",
+    "Use the right arm to open the metal laptop with black keys.",
+    "Lift and open the laptop with black keyboard.",
+    "Raise the laptop with foldable screen design to expose the screen",
+    "Raise the top of the silver laptop with dark keys",
+    "Use the right arm to raise the portable slim laptop.",
+    "Lift the slim laptop lid completely.",
+    "Use the right arm to open the metal laptop with black keys",
+    "Lift the lightweight silver laptop to open.",
+    "Pull the lightweight silver laptop upward lightly.",
+    "Pull the screen of the rectangular laptop with screen.",
+    "Fully lift the portable slim laptop using the right arm.",
+    "Gently raise the silver laptop with dark keys using the right arm.",
+    "Fully open the metal laptop with black keys.",
+    "Pull up the lid of the medium-sized silver laptop",
+    "Carefully open the slim laptop using the right arm",
+    "Lift the compact silver laptop's lid using the right arm.",
+    "Raise the laptop with foldable screen design using the right arm.",
+    "Push the laptop with smooth surface's lid upward using the right arm.",
+    "Lift the laptop with black keyboard's lid upwards."
+  ],
+  "unseen": [
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the silver laptop using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the silver laptop using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the right arm",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the silver laptop using the right arm",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Open the silver laptop with care",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the silver laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the silver laptop using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000048.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000048.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7df6940a04558419400c0b42324eac24a07b2a3
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000048.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully open the laptop with blue screen.",
+    "Pull the portable silver laptop upward lightly.",
+    "Lift the laptop featuring smooth metal finish open with the left arm.",
+    "Gently open the hinged laptop with display upward.",
+    "Lift the laptop with smooth texture lid completely.",
+    "Raise the laptop with smooth texture using the left arm firmly.",
+    "Fully lift the blue-screen laptop using the left arm.",
+    "Use the left arm to raise the blue-screen laptop.",
+    "Carefully open the laptop featuring smooth metal finish using the left arm",
+    "Pull the blue-screen laptop open with the left arm.",
+    "Lift the portable silver laptop to open.",
+    "Raise the laptop featuring smooth metal finish using the left arm.",
+    "Push the metallic laptop's lid upward using the left arm.",
+    "Raise the top of the laptop with blue screen",
+    "Lift the portable silver laptop's lid using the left arm.",
+    "Use the left arm to raise the laptop with smooth texture.",
+    "Raise the portable silver laptop lid using the left arm.",
+    "Open the hinged laptop with display by lifting its lid.",
+    "Raise and open the portable silver laptop.",
+    "Lift the rectangular laptop with hinge to open it up",
+    "Open the metallic laptop carefully with the left arm.",
+    "Hold the rectangular laptop with hinge steady, lift lid.",
+    "Lift the portable silver laptop slightly.",
+    "Pull up the lid of the blue-screen laptop",
+    "With the left arm, open the rectangular laptop with hinge's lid.",
+    "Use the left arm to open the laptop featuring smooth metal finish.",
+    "Gently open the laptop with glass screen.",
+    "Open the laptop featuring smooth metal finish completely.",
+    "Gently lift the laptop for computing using the left arm",
+    "Open the metallic laptop entirely.",
+    "Pull the laptop with blue screen's lid upward.",
+    "Slide the hinged laptop with display open with the left arm.",
+    "Raise the lid of the blue-screen laptop.",
+    "Use the left arm to open the metallic laptop.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Use the left arm to raise the medium-sized laptop.",
+    "Raise the laptop with glass screen's top section.",
+    "Open the laptop with blue screen lifting with the left arm",
+    "Use the left arm to open the laptop featuring smooth metal finish.",
+    "Gently raise the laptop for computing using the left arm.",
+    "Pull open the medium-sized laptop",
+    "Use the left arm to lift the laptop with blue screen",
+    "Lift and open the laptop with silver base.",
+    "Use the left arm to open the laptop featuring smooth metal finish",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Pull the lid of the laptop with silver base upward.",
+    "Pull the screen of the laptop featuring smooth metal finish.",
+    "Raise the laptop with blue screen using the left arm.",
+    "Raise the laptop featuring smooth metal finish to expose the screen",
+    "Raise the laptop with silver base lid with the left arm.",
+    "Fully open the metallic laptop.",
+    "Pull the hinged laptop with display upward lightly.",
+    "Lift the hinged laptop with display open with the left arm.",
+    "Gently open the portable silver laptop upward.",
+    "Lift the laptop with smooth texture lid completely.",
+    "Raise the blue-screen laptop using the left arm firmly.",
+    "Fully lift the medium-sized laptop using the left arm.",
+    "Use the left arm to raise the metallic laptop.",
+    "Carefully open the laptop with smooth texture using the left arm",
+    "Pull the laptop for computing open with the left arm.",
+    "Lift the laptop for computing to open.",
+    "Raise the rectangular laptop with hinge using the left arm.",
+    "Push the blue-screen laptop's lid upward using the left arm.",
+    "Raise the top of the laptop with silver base",
+    "Lift the rectangular laptop with hinge's lid using the left arm.",
+    "Use the left arm to raise the laptop with glass screen.",
+    "Raise the laptop with smooth texture lid using the left arm.",
+    "Open the laptop featuring smooth metal finish by lifting its lid.",
+    "Raise and open the laptop with glass screen.",
+    "Lift the laptop with smooth texture to open it up",
+    "Open the laptop with silver base carefully with the left arm.",
+    "Hold the laptop with glass screen steady, lift lid.",
+    "Lift the metallic laptop slightly.",
+    "Pull up the lid of the rectangular laptop with hinge",
+    "With the left arm, open the laptop with silver base's lid.",
+    "Use the left arm to open the laptop with smooth texture.",
+    "Gently open the rectangular laptop with hinge.",
+    "Open the laptop with blue screen completely.",
+    "Gently lift the laptop with glass screen using the left arm",
+    "Open the laptop with blue screen entirely.",
+    "Pull the blue-screen laptop's lid upward.",
+    "Slide the laptop with blue screen open with the left arm.",
+    "Raise the lid of the laptop with silver base.",
+    "Use the left arm to open the portable silver laptop.",
+    "Lift the portable silver laptop's lid upwards.",
+    "Use the left arm to raise the laptop with blue screen.",
+    "Raise the hinged laptop with display's top section.",
+    "Open the laptop featuring smooth metal finish lifting with the left arm",
+    "Use the left arm to open the portable silver laptop.",
+    "Gently raise the laptop with silver base using the left arm.",
+    "Pull open the rectangular laptop with hinge",
+    "Use the left arm to lift the laptop with silver base",
+    "Lift and open the metallic laptop.",
+    "Use the left arm to open the rectangular laptop with hinge",
+    "Grip and lift the rectangular laptop with hinge's lid.",
+    "Pull the lid of the laptop with smooth texture upward.",
+    "Pull the screen of the laptop with smooth texture.",
+    "Raise the medium-sized laptop using the left arm.",
+    "Raise the hinged laptop with display to expose the screen",
+    "Raise the laptop with silver base lid with the left arm."
+  ],
+  "unseen": [
+    "Grab the compact silver laptop and open it.",
+    "Open the compact silver laptop using the left arm.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop using the left arm",
+    "Open the sleek laptop with care",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the silver laptop's lid fully.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Lift the sleek laptop using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Open the sleek laptop using the left arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the sleek laptop using the left arm",
+    "Open the sleek laptop with care",
+    "Lift the silver laptop's lid gently.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Lift the silver laptop using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Open the sleek laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the sleek laptop using the left arm",
+    "Open the silver laptop with care",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Lift the compact silver laptop using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Open the sleek laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the sleek laptop using the left arm",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop's lid gently.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the compact silver laptop using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Open the silver laptop using the left arm.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop using the left arm",
+    "Open the silver laptop with care",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the silver laptop using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Open the compact silver laptop using the left arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the compact silver laptop using the left arm",
+    "Open the compact silver laptop with care",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Lift the compact silver laptop using the left arm.",
+    "Open the compact silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Open the compact silver laptop using the left arm.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop using the left arm",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop's lid gently.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Lift the silver laptop using the left arm.",
+    "Open the compact silver laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Open the compact silver laptop using the left arm.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the silver laptop using the left arm",
+    "Open the silver laptop with care",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop's lid fully.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Lift the sleek laptop using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Open the silver laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the left arm",
+    "Open the compact silver laptop with care",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Lift the compact silver laptop using the left arm.",
+    "Open the compact silver laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Open the sleek laptop using the left arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the sleek laptop using the left arm",
+    "Open the compact silver laptop with care",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the silver laptop's lid fully.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Lift the compact silver laptop using the left arm.",
+    "Open the silver laptop with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000049.json b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000049.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ad21fd377644bfd473860fae51c2b2f346568dc
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/instruction/episode_0000049.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the laptop with black textured screen's lid upward.",
+    "Slide the medium foldable silver laptop open with the left arm.",
+    "Open the wood surrounded laptop completely.",
+    "Pull the wood surrounded laptop upward lightly.",
+    "Raise the lid of the black and silver laptop.",
+    "Carefully open the metal laptop using the left arm",
+    "Use the left arm to raise the metal laptop.",
+    "Lift and open the keyboard laptop.",
+    "Raise the keyboard laptop lid with the left arm.",
+    "Use the left arm to open the medium foldable silver laptop.",
+    "Lift the silver laptop with foldable parts's lid upwards.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Open the medium foldable silver laptop lifting with the left arm",
+    "With the left arm, open the laptop with wood panel background's lid.",
+    "Push the keyboard laptop's lid upward using the left arm.",
+    "Pull the laptop with wood panel background open with the left arm.",
+    "Raise the top of the black and silver laptop",
+    "Pull the lid of the black screen laptop upward.",
+    "Raise the silver laptop using the left arm.",
+    "Lift the smooth textured laptop lid completely.",
+    "Fully open the metal laptop.",
+    "Raise the keyboard laptop using the left arm firmly.",
+    "Lift the laptop with wood panel background to open.",
+    "Open the smooth textured laptop entirely.",
+    "Use the left arm to lift the metal laptop",
+    "Fully lift the laptop with wood panel background using the left arm.",
+    "Use the left arm to raise the silver laptop with black keyboard.",
+    "Gently open the smooth textured laptop.",
+    "Open the laptop with black textured screen by lifting its lid.",
+    "Open the wood surrounded laptop carefully with the left arm.",
+    "Lift the smooth textured laptop's lid using the left arm.",
+    "Pull up the lid of the silver laptop",
+    "Hold the metal laptop steady, lift lid.",
+    "Gently lift the keyboard laptop using the left arm",
+    "Raise and open the silver laptop with black keyboard.",
+    "Pull open the keyboard laptop",
+    "Use the left arm to open the metal laptop",
+    "Raise the wood surrounded laptop lid using the left arm.",
+    "Raise the silver laptop to expose the screen",
+    "Lift the silver laptop with foldable parts slightly.",
+    "Lift the metal laptop open with the left arm.",
+    "Gently raise the black and silver laptop using the left arm.",
+    "Use the left arm to open the medium foldable silver laptop.",
+    "Pull the screen of the keyboard laptop.",
+    "Raise the laptop with black textured screen's top section.",
+    "Grip and lift the smooth textured laptop's lid.",
+    "Gently open the laptop with wood panel background upward.",
+    "Use the left arm to raise the wood surrounded laptop.",
+    "Use the left arm to open the keyboard laptop.",
+    "Lift the laptop with wood panel background to open it up",
+    "Pull the metal laptop's lid upward.",
+    "Slide the laptop with wood panel background open with the left arm.",
+    "Open the metal laptop completely.",
+    "Pull the silver laptop with black keyboard upward lightly.",
+    "Raise the lid of the metal laptop.",
+    "Carefully open the laptop with black textured screen using the left arm",
+    "Use the left arm to raise the black screen laptop.",
+    "Lift and open the black and silver laptop.",
+    "Raise the silver laptop with black keyboard lid with the left arm.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Lift the metal laptop's lid upwards.",
+    "Raise the silver laptop with foldable parts using the left arm.",
+    "Open the laptop with wood panel background lifting with the left arm",
+    "With the left arm, open the wood surrounded laptop's lid.",
+    "Push the metal laptop's lid upward using the left arm.",
+    "Pull the black screen laptop open with the left arm.",
+    "Raise the top of the keyboard laptop",
+    "Pull the lid of the silver laptop upward.",
+    "Raise the laptop with wood panel background using the left arm.",
+    "Lift the smooth textured laptop lid completely.",
+    "Fully open the silver laptop with foldable parts.",
+    "Raise the metal laptop using the left arm firmly.",
+    "Lift the smooth textured laptop to open.",
+    "Open the black and silver laptop entirely.",
+    "Use the left arm to lift the laptop with black textured screen",
+    "Fully lift the wood surrounded laptop using the left arm.",
+    "Use the left arm to raise the metal laptop.",
+    "Gently open the silver laptop with black keyboard.",
+    "Open the silver laptop with black keyboard by lifting its lid.",
+    "Open the silver laptop with black keyboard carefully with the left arm.",
+    "Lift the black and silver laptop's lid using the left arm.",
+    "Pull up the lid of the keyboard laptop",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Gently lift the wood surrounded laptop using the left arm",
+    "Raise and open the wood surrounded laptop.",
+    "Pull open the keyboard laptop",
+    "Use the left arm to open the silver laptop",
+    "Raise the laptop with black textured screen lid using the left arm.",
+    "Raise the laptop with wood panel background to expose the screen",
+    "Lift the silver laptop with black keyboard slightly.",
+    "Lift the black and silver laptop open with the left arm.",
+    "Gently raise the black and silver laptop using the left arm.",
+    "Use the left arm to open the silver laptop with foldable parts.",
+    "Pull the screen of the silver laptop with foldable parts.",
+    "Raise the laptop with wood panel background's top section.",
+    "Grip and lift the silver laptop with foldable parts's lid.",
+    "Gently open the silver laptop with foldable parts upward.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Use the left arm to open the medium foldable silver laptop.",
+    "Lift the laptop with black textured screen to open it up"
+  ],
+  "unseen": [
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_laptop/aloha_agilex/scene_info.json b/demo_flow/open_laptop/aloha_agilex/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04f6394365fb9466d1ee6c2ebf15c4b0d587b19
--- /dev/null
+++ b/demo_flow/open_laptop/aloha_agilex/scene_info.json
@@ -0,0 +1,552 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
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+            "elapsed_s": 334.3
+        },
+        "35": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 424,
+            "windows": 12,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.51288992488562,
+            "ik_fail_fraction": 0.19322916666666667,
+            "gateC_ee": {
+                "track_err_pos_max": 0.01391746217974353,
+                "track_err_rot_deg_max": 2.3490167405779814
+            },
+            "elapsed_s": 157.0
+        },
+        "36": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 594,
+            "windows": 18,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.741743481360615,
+            "ik_fail_fraction": 0.16944444444444445,
+            "gateC_ee": {
+                "track_err_pos_max": 0.005632352609740451,
+                "track_err_rot_deg_max": 0.8555872345436092
+            },
+            "elapsed_s": 232.7
+        },
+        "37": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 844,
+            "windows": 25,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.927236657127935,
+            "ik_fail_fraction": 0.141375,
+            "gateC_ee": {
+                "track_err_pos_max": 0.008204713330872707,
+                "track_err_rot_deg_max": 1.0933923969719128
+            },
+            "elapsed_s": 317.8
+        },
+        "38": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 523,
+            "windows": 15,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.26349713272674,
+            "ik_fail_fraction": 0.16479166666666667,
+            "gateC_ee": {
+                "track_err_pos_max": 0.008370615178633741,
+                "track_err_rot_deg_max": 1.1804590643580926
+            },
+            "elapsed_s": 199.2
+        },
+        "39": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 444,
+            "windows": 13,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.38908474904665,
+            "ik_fail_fraction": 0.18966346153846153,
+            "gateC_ee": {
+                "track_err_pos_max": 0.005466344230050346,
+                "track_err_rot_deg_max": 0.6623486642397522
+            },
+            "elapsed_s": 183.1
+        },
+        "40": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 482,
+            "windows": 14,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.571548945284654,
+            "ik_fail_fraction": 0.19308035714285715,
+            "gateC_ee": {
+                "track_err_pos_max": 0.0056566360663714045,
+                "track_err_rot_deg_max": 0.9102905848725035
+            },
+            "elapsed_s": 180.2
+        },
+        "41": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 681,
+            "windows": 20,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.75294743429562,
+            "ik_fail_fraction": 0.1665625,
+            "gateC_ee": {
+                "track_err_pos_max": 0.008596634638757794,
+                "track_err_rot_deg_max": 1.2451275929103922
+            },
+            "elapsed_s": 268.6
+        },
+        "42": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 538,
+            "windows": 16,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.0129891592686,
+            "ik_fail_fraction": 0.1865234375,
+            "gateC_ee": {
+                "track_err_pos_max": 0.005813204218201242,
+                "track_err_rot_deg_max": 0.6612659429405132
+            },
+            "elapsed_s": 205.4
+        },
+        "43": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 483,
+            "windows": 14,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.03603604427717,
+            "ik_fail_fraction": 0.18816964285714285,
+            "gateC_ee": {
+                "track_err_pos_max": 0.014285121498676062,
+                "track_err_rot_deg_max": 2.0245215543710993
+            },
+            "elapsed_s": 190.2
+        },
+        "44": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 611,
+            "windows": 18,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 46.08336434066473,
+            "ik_fail_fraction": 0.1527777777777778,
+            "gateC_ee": {
+                "track_err_pos_max": 0.008442484887040216,
+                "track_err_rot_deg_max": 1.059276393065265
+            },
+            "elapsed_s": 241.3
+        },
+        "45": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 556,
+            "windows": 17,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.18822774151677,
+            "ik_fail_fraction": 0.17647058823529413,
+            "gateC_ee": {
+                "track_err_pos_max": 0.005291961429715878,
+                "track_err_rot_deg_max": 0.8204184633895325
+            },
+            "elapsed_s": 224.6
+        },
+        "46": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 754,
+            "windows": 23,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.35902065878454,
+            "ik_fail_fraction": 0.1327445652173913,
+            "gateC_ee": {
+                "track_err_pos_max": 0.0034166258194704784,
+                "track_err_rot_deg_max": 0.6674698528485618
+            },
+            "elapsed_s": 307.5
+        },
+        "47": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 431,
+            "windows": 13,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.26277641223179,
+            "ik_fail_fraction": 0.20408653846153846,
+            "gateC_ee": {
+                "track_err_pos_max": 0.011974195322046811,
+                "track_err_rot_deg_max": 2.221277010359174
+            },
+            "elapsed_s": 167.3
+        },
+        "48": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 613,
+            "windows": 18,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.92021750289341,
+            "ik_fail_fraction": 0.16649305555555555,
+            "gateC_ee": {
+                "track_err_pos_max": 0.009044791330980994,
+                "track_err_rot_deg_max": 1.6005977536772962
+            },
+            "elapsed_s": 239.1
+        },
+        "49": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 722,
+            "windows": 21,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 45.19840609630181,
+            "ik_fail_fraction": 0.19523809523809524,
+            "gateC_ee": {
+                "track_err_pos_max": 0.014263205537500896,
+                "track_err_rot_deg_max": 3.023522822307929
+            },
+            "elapsed_s": 284.8
+        }
+    }
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000000.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef22d8fd3f28450ec0e0796d4a074230df76af90
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000000.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Get the gray microwave with two control knobs open.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Engage the microwave's handle and open it.",
+    "Pull the microwave's handle to open it.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Handle the microwave and open it with the left arm.",
+    "Grab the handle and open the microwave with knobs.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Pull to open the rectangular microwave.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the door to open the medium microwave.",
+    "Pull the countertop microwave's handle using the left arm.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Engage the left arm to open the medium microwave.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Open the countertop microwave by grasping its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the microwave using the left arm.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Get the microwave with knobs open.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Pull the handle to open the medium microwave.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Pull and open the rectangular microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Pull to open the countertop microwave.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the door to open the rectangular microwave.",
+    "Pull the microwave with textured top panel's handle using the left arm.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Engage the left arm to open the gray microwave.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Open the medium microwave by grasping its handle.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Activate the door to open the countertop microwave.",
+    "Use the handle to open the countertop microwave.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Get the rectangular microwave open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Pull the microwave's handle to open it.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Pull the handle of the microwave to open it.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Pull and open the countertop microwave.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Pull to open the gray and yellow microwave with rounded edges."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000001.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..f17a9299772beb7fc374047035e337e0abcf72b3
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000001.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull the handle to open the countertop microwave.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Activate the door to open the microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Engage the left arm to open the medium microwave.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Engage the gray microwave using the left arm to open.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Get the countertop microwave open.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the microwave with textured top panel's handle using the left arm.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Use the handle to open the medium microwave.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Pull to open the microwave with textured top panel.",
+    "Use the left arm to grab and open the microwave.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Pull the handle to open the medium microwave.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Activate the door to open the microwave.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Grab and pull the microwave using the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Open the rectangular microwave using the left arm.",
+    "Use the left arm to pull the gray microwave open.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Get the microwave with patterned top and knobs open.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the gray microwave with two control knobs's handle using the left arm.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle of the microwave with the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Engage the microwave's handle and open it.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull the handle to open the gray microwave.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Engage the left arm to open the gray microwave.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the countertop microwave's handle to open it.",
+    "Open the gray microwave by pulling on its handle.",
+    "Open the microwave using the left arm."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000002.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..207d6c5881d693ec1f5f820c154f1d8ef676d594
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000002.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Grasp the microwave's handle and pull to open.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Pull the microwave's handle using the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Open the microwave using the left arm.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Get the rectangular gray microwave open.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Open the microwave by pulling its handle.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull the door to open the microwave with glass top.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Grip the microwave's handle and pull it open.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Pull and open the microwave with glass top.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Activate the door to open the microwave for heating food.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Pull the microwave for heating food's handle using the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Get the medium microwave with slanted sides open.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Pull and open the rectangular gray microwave.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Pull to open the microwave for heating food.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Activate the door to open the microwave.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Handle the microwave for heating food and open it with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000003.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..4edaede0842bcb69fec2e3ca6eb6f63e6a13d114
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000003.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the microwave's handle to open it.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Get the microwave with textured top panel open.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Activate the door to open the countertop microwave.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Access the inside by opening the gray microwave.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Pull the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull to open the countertop microwave.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the door to open the rectangular microwave.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Pull the door of the microwave to open it.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Get the microwave with textured top panel open.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Grab the handle and open the microwave with knobs.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Activate the door to open the rectangular microwave.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Pull to open the microwave with textured top panel.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Grasp the microwave's handle and pull to open.",
+    "Pull the door to open the microwave with knobs.",
+    "Open the microwave with knobs using the left arm.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Pull and open the medium microwave.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Get the microwave with knobs open.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Engage the microwave using the left arm to open.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the microwave with knobs's handle using the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Use the left arm to grab and open the rectangular microwave."
+  ],
+  "unseen": [
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000004.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2c45b37e4088edd6ed2700165f7989f61b6c4c9
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000004.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Pull the handle to open the microwave for heating food.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Pull the gray appliance with transparent glass top's handle using the left arm.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Pull and open the microwave with smooth surface.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Pull the handle of the microwave with the left arm.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Pull the handle to open the microwave.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Engage the microwave's handle and open it.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Pull the microwave for heating food's handle using the left arm.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Pull to open the microwave with glass top.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Pull and open the microwave with smooth surface.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Use the handle to open the microwave with glass top.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Utilize the left arm to pull the microwave open.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Get the gray and glass microwave for cooking open.",
+    "Pull the microwave with smooth surface's handle using the left arm.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Pull to open the microwave with glass top.",
+    "Open the microwave with glass top using the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Pull and open the rectangular gray microwave.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism."
+  ],
+  "unseen": [
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000005.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..9512b74b8a3a0a43fecf4a2264625a259603f1d4
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000005.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Get the gray appliance with transparent glass top open.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Grab and pull the microwave using the left arm.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Activate the door to open the microwave.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Pull the door to open the microwave for heating food.",
+    "Pull the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Open the microwave with glass top using the left arm.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Use the handle to open the microwave for heating food.",
+    "Grab the handle and open the microwave with glass top.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Get the microwave with glass top open.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Access the inside by opening the microwave with glass top.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Pull the gray appliance with transparent glass top's handle using the left arm.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Pull the handle to open the microwave.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Get the dark gray kitchen microwave open.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Open the microwave by pulling its handle.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Use the left arm to open the microwave by pulling."
+  ],
+  "unseen": [
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000006.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a995e2eb6394fd43e2ade46c82b14e9b262df86
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000006.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the microwave to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the countertop microwave's handle using the left arm.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Engage the left arm to open the medium microwave.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Grab the handle and open the gray microwave.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Engage the gray microwave's handle and open it.",
+    "Activate the door to open the microwave with knobs.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Pull and open the countertop microwave.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Access the inside by opening the microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Pull open the door of the microwave using the left arm.",
+    "Get the microwave open.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Use the handle to open the countertop microwave.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Pull the door to open the medium microwave.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the handle of the microwave to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the microwave with knobs's handle using the left arm.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Open the microwave by pulling its handle.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the handle to open the microwave.",
+    "Engage the medium microwave's handle and open it.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Open the medium microwave by pulling on its handle.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Pull and open the yellow-sided microwave.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Access the inside by opening the microwave.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Get the medium microwave open.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull the handle of the gray microwave to open it.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Pull the microwave with textured top panel's handle using the left arm.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Engage the left arm to open the countertop microwave.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the left arm to pull the gray microwave open.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Open the medium microwave by pulling its handle.",
+    "Grab the handle and open the medium microwave.",
+    "Open the microwave using the left arm.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the handle to open the rectangular microwave.",
+    "Engage the countertop microwave's handle and open it.",
+    "Activate the door to open the countertop microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Pull and open the microwave with knobs.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Pull to open the rectangular microwave."
+  ],
+  "unseen": [
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000007.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4aa81d96bd726bec209755ee746b3defd26aefd
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000007.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Use the handle to open the countertop microwave.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Activate the door to open the gray microwave.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Pull and open the medium microwave.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Pull the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Get the gray microwave with two control knobs open.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Pull to open the countertop microwave.",
+    "Grab the handle and open the microwave with knobs.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Pull the door to open the microwave with knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Use the left arm to grab and pull the microwave.",
+    "Use the handle to open the rectangular microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Pull the handle to open the microwave.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Engage the left arm to open the countertop microwave.",
+    "Activate the door to open the countertop microwave.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to open the microwave by pulling.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Grab and pull the microwave using the left arm.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Pull the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Get the medium microwave open.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Grab the handle and open the rectangular microwave.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Engage the medium microwave's handle and open it.",
+    "Pull the door to open the rectangular microwave.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Use the handle to open the medium microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Pull the gray microwave's handle to open it.",
+    "Engage the left arm to open the microwave.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Open the gray microwave using the left arm.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the handle to open the gray microwave."
+  ],
+  "unseen": [
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000008.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1ef0bd59fd869264d72ecd53b889e8aa0478e16
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000008.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the microwave.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Pull the medium microwave with slanted sides's handle using the left arm.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull and open the microwave for heating food.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Use the handle to open the microwave with glass top.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Grip the medium microwave with slanted sides's handle and pull it open.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Get the medium microwave with slanted sides open.",
+    "Pull the microwave's handle to open it.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Pull to open the rectangular gray microwave.",
+    "Grab the handle and open the microwave for heating food.",
+    "Pull the handle to open the microwave with glass top.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Pull the gray appliance with transparent glass top's handle using the left arm.",
+    "Engage the microwave using the left arm to open.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the handle to open the microwave for heating food.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull and open the microwave.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Access the inside by opening the microwave with glass top.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Pull to open the microwave with glass top.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Pull the microwave with glossy dark gray finish's handle using the left arm.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Open the microwave by grasping its handle.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Access the inside by opening the dark gray slanted microwave box."
+  ],
+  "unseen": [
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000009.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7bd71c72941c0b444434b1237d8ef5a299a9d1d
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000009.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the medium microwave's handle using the left arm.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Pull the gray microwave's handle to open it.",
+    "Open the microwave by pulling on its handle.",
+    "Pull the door to open the rectangular microwave.",
+    "Pull the handle to open the microwave.",
+    "Engage the gray microwave's handle and open it.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Pull open the door of the microwave using the left arm.",
+    "Get the yellow-sided microwave open.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Use the left arm to pull the medium microwave open.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the handle of the medium microwave to open it.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull and open the rectangular microwave.",
+    "Access the inside by opening the countertop microwave.",
+    "Open the countertop microwave using the left arm.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Pull the gray microwave with two control knobs's handle using the left arm.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Pull the countertop microwave's handle to open it.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the gray microwave.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Get the yellow-sided microwave open.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Pull to open the microwave.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Activate the door to open the microwave with knobs.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Use the left arm to grab and open the microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull and open the microwave.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Pull the medium microwave's handle using the left arm.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Pull the door to open the rectangular microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Grab the handle and open the microwave with knobs.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Use the left arm to pull the medium microwave open.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Engage the microwave using the left arm to open."
+  ],
+  "unseen": [
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000010.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..e319f759c8aae7e56a68232299738b6b81cd949c
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000010.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave with smooth surface using the left arm.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Open the microwave by grasping its handle.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull and open the microwave with glass top.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Access the inside by opening the microwave for heating food.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Pull the handle to open the microwave with glass top.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Pull the handle to open the microwave for heating food.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull to open the rectangular gray microwave.",
+    "Pull the medium microwave with slanted sides's handle using the left arm.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Get the gray appliance with transparent glass top open.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull and open the microwave for heating food.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull to open the microwave with smooth surface.",
+    "Pull the microwave with glossy dark gray finish's handle using the left arm.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Get the microwave for heating food open.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull and open the microwave with smooth surface.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Use the handle to open the microwave with glossy dark gray finish."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000011.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..32d6999b261834b9215ea0f36eac24956887c578
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000011.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the yellow-sided microwave's handle using the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Open the gray microwave by grasping its handle.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Engage the gray microwave's handle and open it.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the handle to open the microwave with knobs.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Activate the door to open the microwave with knobs.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Pull and open the countertop microwave.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Grab the handle and open the medium microwave.",
+    "Get the microwave with knobs open.",
+    "Engage the left arm to open the gray microwave.",
+    "Open the microwave using the left arm.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the microwave with patterned top and knobs's handle using the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Open the countertop microwave by grasping its handle.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Grasp the microwave's handle and pull to open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Access the inside by opening the countertop microwave.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Use the handle to open the microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull open the door of the microwave using the left arm.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull the medium microwave open.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Pull and open the microwave with textured top panel.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Get the microwave with patterned top and knobs open.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Pull the door to open the rectangular microwave.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the microwave's handle using the left arm.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Pull the door of the medium microwave to open it.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Engage the medium microwave using the left arm to open.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Pull the countertop microwave's handle to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the rectangular microwave with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000012.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d4d1be8e58969218201e8fe04c58baeaaf8d21
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000012.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull to open the rectangular microwave.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Grab the handle and open the microwave with knobs.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the door of the gray microwave to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Pull and open the medium microwave.",
+    "Open the medium microwave by grasping its handle.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Use the left arm to pull the microwave open.",
+    "Get the gray microwave with two control knobs open.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Engage the left arm to open the medium microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the rectangular microwave's handle using the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Open the microwave with knobs using the left arm.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Pull and open the microwave.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Pull the door to open the medium microwave.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Get the rectangular microwave open.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Grip the microwave's handle and pull it open.",
+    "Pull the microwave's handle to open it.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Engage the left arm to open the gray microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull the microwave's handle using the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Access the inside by opening the countertop microwave.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Activate the door to open the yellow-panel microwave with smooth sides."
+  ],
+  "unseen": [
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000013.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be21a29a72dfafdea415424671838de61c1c70c
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000013.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pull open the door of the gray appliance with transparent glass top.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Get the medium microwave with slanted sides open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Open the microwave for heating food using the left arm.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Grab the handle and open the microwave with glass top.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull the door to open the microwave.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Pull the door of the microwave to open it.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Pull the microwave for heating food's handle using the left arm.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Pull to open the microwave with smooth surface.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Get the rectangular gray microwave open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Activate the door to open the microwave with glass top.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Pull the handle to open the microwave for heating food.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the door to open the microwave.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Pull and open the microwave for heating food.",
+    "Pull the gray and glass microwave for cooking's handle using the left arm.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Get the microwave with glass top open.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Open the microwave with glass top using the left arm.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000014.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f450c82b3a55c6617b67883aa01480c1d071b7
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000014.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Get the dark gray slanted microwave box open.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Pull the microwave with glossy dark gray finish's handle using the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Engage the medium microwave with slanted sides using the left arm to open.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Use the left arm to pull the microwave open.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Pull the door of the microwave to open it.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Pull the rectangular gray microwave's handle using the left arm.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Grab and pull the microwave using the left arm.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Grab the handle and open the microwave.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Open the microwave for heating food using the left arm.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Engage the left arm to open the microwave.",
+    "Pull the handle to open the microwave for heating food.",
+    "Get the dark gray slanted microwave box open.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Pull the medium microwave with slanted sides's handle using the left arm.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Handle the gray and glass microwave for cooking and open it with the left arm.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Pull and open the gray and glass microwave for cooking."
+  ],
+  "unseen": [
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000015.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..35019353b10d17efa43dae309ba84ab998b2ed9c
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000015.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Engage the countertop microwave's handle and open it.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Pull the door of the countertop microwave to open it.",
+    "Pull the handle to open the countertop microwave.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Pull the countertop microwave's handle using the left arm.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Engage the gray microwave using the left arm to open.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Open the microwave using the left arm.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Pull and open the medium microwave.",
+    "Open the microwave by pulling its handle.",
+    "Pull the door to open the countertop microwave.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the handle to open the rectangular microwave.",
+    "Get the gray microwave with two control knobs open.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Access the inside by opening the gray microwave.",
+    "Activate the door to open the rectangular microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Handle the microwave and open it with the left arm.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Engage the left arm to open the medium microwave.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Pull the microwave with textured top panel's handle using the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Grab the handle and open the countertop microwave.",
+    "Pull and open the yellow-sided microwave.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and pull the microwave.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Get the medium microwave open.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Open the countertop microwave by grasping its handle.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Pull the medium microwave's handle using the left arm.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Engage the microwave with textured top panel using the left arm to open."
+  ],
+  "unseen": [
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000016.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..d95edf4632b0856532a03bf121cea93ebdb55cc1
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000016.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Grip the microwave's handle and pull it open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Pull to open the rectangular gray microwave.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull the handle to open the microwave for heating food.",
+    "Handle the gray and glass microwave for cooking and open it with the left arm.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Access the inside by opening the microwave.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Grab the handle and open the microwave with glass top.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Pull the medium microwave with slanted sides's handle using the left arm.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Pull to open the microwave with glass top.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Open the microwave by pulling its handle.",
+    "Open the microwave with glass top using the left arm.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Get the microwave with smooth surface open.",
+    "Pull the gray appliance with transparent glass top's handle using the left arm.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull the microwave's handle to open it.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Open the microwave for heating food using the left arm."
+  ],
+  "unseen": [
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000017.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..da7e3d55839e7ca06a064ab1c11ba7180d139fd0
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000017.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Activate the door to open the gray microwave.",
+    "Pull the handle to open the microwave.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Access the inside by opening the microwave.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Get the yellow-sided microwave open.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Pull open the door of the microwave using the left arm.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Engage the left arm to open the countertop microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Pull the microwave with textured top panel's handle using the left arm.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull the door of the medium microwave to open it.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Pull the handle to open the rectangular microwave.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Pull to open the gray microwave.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Get the countertop microwave open.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Open the gray microwave using the left arm.",
+    "Pull the door to open the gray microwave.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Pull the microwave with knobs's handle using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Pull the gray microwave's handle to open it.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to open the microwave by pulling.",
+    "Get the medium microwave open.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Open the gray microwave by pulling its handle.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Open the rectangular microwave using the left arm.",
+    "Pull the door to open the gray microwave."
+  ],
+  "unseen": [
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000018.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..268aa5c690afc9e8a24d3ec9e39a4ebbb49d29b1
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000018.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the gray microwave.",
+    "Pull the handle of the medium microwave to open it.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Use the left arm to pull the gray microwave open.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Get the medium microwave open.",
+    "Use the handle to open the medium microwave.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Use the left arm to open the microwave by pulling.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Pull and open the countertop microwave.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Activate the door to open the gray microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Grip the microwave's handle and pull it open.",
+    "Pull the door of the medium microwave to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the door to open the gray microwave.",
+    "Pull the countertop microwave's handle to open it.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Get the microwave open.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Pull the handle of the microwave with the left arm.",
+    "Pull the microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Activate the door to open the gray microwave.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Open the gray microwave using the left arm.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Open the medium microwave by pulling its handle.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Engage the left arm to open the microwave.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the door to open the microwave.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Pull to open the countertop microwave.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Grab the handle and open the rectangular microwave.",
+    "Get the gray microwave open.",
+    "Use the handle to open the gray microwave.",
+    "Open the medium microwave by grasping its handle.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Access the inside by opening the rectangular microwave.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Pull the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open."
+  ],
+  "unseen": [
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000019.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..064172229369e171ccdd85921d9381c96239e1fe
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000019.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Get the microwave for heating food open.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Use the handle to open the microwave with glass top.",
+    "Grasp the microwave's handle and pull to open.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Pull the microwave with glossy dark gray finish's handle using the left arm.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Pull and open the rectangular gray microwave.",
+    "Pull to open the microwave.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull the door to open the microwave.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Get the microwave open.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Pull the dark gray slanted microwave box's handle using the left arm.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave for heating food.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull and open the microwave.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Open the microwave using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Get the rectangular gray microwave open.",
+    "Open the microwave by grasping its handle.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Grab the handle and open the microwave for heating food.",
+    "Pull the rectangular gray microwave's handle using the left arm.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Access the inside by opening the rectangular microwave with clear glass panel."
+  ],
+  "unseen": [
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000020.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa2520cd6e773163c6096f89a960993b950b25b8
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000020.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Pull the microwave for heating food's handle using the left arm.",
+    "Activate the door to open the microwave for heating food.",
+    "Get the dark gray slanted microwave box open.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Access the inside by opening the microwave for heating food.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Pull and open the microwave with smooth surface.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Pull the door to open the microwave with glass top.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Pull to open the rectangular gray microwave.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Pull the handle to open the microwave.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Grab the handle and open the microwave.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Pull the microwave's handle using the left arm.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Get the medium microwave with slanted sides open.",
+    "Use the handle to open the microwave for heating food.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Pull to open the microwave with glass top.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Pull the handle to open the microwave with glass top.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Open the microwave with smooth surface using the left arm.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Pull the medium microwave with slanted sides's handle using the left arm.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Get the microwave open.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Handle the gray and glass microwave for cooking and open it with the left arm.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Use the left arm to grab and pull the microwave with glass top."
+  ],
+  "unseen": [
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000021.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1f8cc2b59abd6b8588d8b31e49e175778a7f9c2
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000021.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Grab the handle and open the microwave for heating food.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Pull the microwave for heating food's handle using the left arm.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Pull to open the microwave for heating food.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull the door to open the microwave.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Open the microwave with smooth surface using the left arm.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Open the microwave by grasping its handle.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Pull and open the microwave with smooth surface.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Pull the dark gray slanted microwave box's handle using the left arm.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Activate the door to open the microwave for heating food.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Get the dark gray kitchen microwave open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Open the microwave for heating food using the left arm.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Pull the microwave with smooth surface's handle using the left arm.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Handle the microwave and open it with the left arm.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Pull the medium microwave with slanted sides's handle to open it."
+  ],
+  "unseen": [
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000022.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c2768ce1106c4810126ad85259472498659864
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000022.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Get the dark gray slanted microwave box open.",
+    "Grab the handle and open the microwave for heating food.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Activate the door to open the microwave.",
+    "Pull and open the microwave.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Pull the dark gray kitchen microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Get the microwave for heating food open.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull the handle to open the microwave for heating food.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Access the inside by opening the microwave.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Pull the handle to open the microwave for heating food.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Pull and open the microwave with glass top.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Pull the microwave for heating food's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Get the rectangular gray microwave open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Pull to open the microwave."
+  ],
+  "unseen": [
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000023.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f4007ba7ca39d571c92a99988dc7d156161e4e9
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000023.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull to open the microwave.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Access the inside by opening the microwave for heating food.",
+    "Pull the microwave with glass top's handle using the left arm.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Get the microwave for heating food open.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Grip the medium microwave with slanted sides's handle and pull it open.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Use the left arm to open the microwave by pulling.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Grab the handle and open the microwave.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Pull the microwave for heating food's handle using the left arm.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Get the medium microwave with slanted sides open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Engage the left arm to open the microwave.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull to open the microwave for heating food.",
+    "Pull the door of the microwave to open it.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Grab the handle and open the microwave.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Pull the handle to open the dark gray kitchen microwave."
+  ],
+  "unseen": [
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000024.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b23bbb44b8a4f31b39374b30df3edd2fece814c
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000024.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the handle to open the gray microwave.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the handle of the microwave to open it.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Pull the countertop microwave's handle using the left arm.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull and open the microwave.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull to open the microwave.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Get the microwave open.",
+    "Pull the medium microwave's handle to open it.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Grab the handle and open the rectangular microwave.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the handle of the gray microwave to open it.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Pull the gray microwave's handle using the left arm.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Pull and open the countertop microwave.",
+    "Access the inside by opening the microwave with knobs.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull to open the medium microwave.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Get the yellow-sided microwave open.",
+    "Pull the medium microwave's handle to open it.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Engage the microwave using the left arm to open.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Grab the handle and open the rectangular microwave.",
+    "Open the medium microwave by pulling on its handle.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Use the handle to open the gray microwave.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Activate the door to open the gray microwave.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Pull the rectangular microwave's handle using the left arm.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Pull and open the microwave with knobs.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Open the gray microwave by pulling its handle.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull to open the rectangular microwave.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Get the microwave with knobs open.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm."
+  ],
+  "unseen": [
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000025.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..77376bb24dc0f505c1d7c1c3d841504cf367b187
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000025.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Use the handle to open the microwave.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Activate the door to open the microwave with glass top.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Pull the gray and glass microwave for cooking's handle using the left arm.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Grasp the microwave's handle and pull to open.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Engage the microwave using the left arm to open.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Get the microwave with smooth surface open.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull to open the rectangular gray microwave.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Utilize the left arm to pull the microwave open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull and open the microwave.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Open the microwave by pulling with the left arm.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Use the left arm to grab and open the microwave.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Pull the gray and glass microwave for cooking's handle using the left arm.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Access the inside by opening the microwave with glass top.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Get the dark gray slanted microwave box open.",
+    "Open the microwave by grasping its handle.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Pull the dark gray slanted microwave box's handle using the left arm.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Use the left arm to pull the microwave with glass top open."
+  ],
+  "unseen": [
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000026.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..75d8e3d0273e0fb6a0b49473ed8b19070698d9ae
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000026.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Pull the gray microwave's handle using the left arm.",
+    "Activate the door to open the medium microwave.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Pull the handle to open the gray microwave.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull and open the gray microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to pull the microwave open.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Get the medium microwave open.",
+    "Pull the door to open the microwave with knobs.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Engage the countertop microwave's handle and open it.",
+    "Open the microwave with knobs using the left arm.",
+    "Use the handle to open the microwave.",
+    "Open the medium microwave by pulling on its handle.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the door of the gray microwave to open it.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Access the inside by opening the gray microwave.",
+    "Pull the yellow-sided microwave's handle using the left arm.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Grab the handle and open the gray microwave.",
+    "Open the microwave by grasping its handle.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull the handle to open the medium microwave.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Engage the left arm to open the microwave.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull and open the microwave.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Get the microwave with patterned top and knobs open.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Pull the handle to open the medium microwave.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Open the microwave with knobs using the left arm.",
+    "Use the handle to open the microwave.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Pull to open the medium microwave.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Pull the microwave with patterned top and knobs's handle using the left arm.",
+    "Activate the door to open the countertop microwave.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull and open the microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm."
+  ],
+  "unseen": [
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000027.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..86df0c431b3b3d9dac8c4f381c193a12183125e8
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000027.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Open the microwave by pulling with the left arm.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the door to open the microwave with knobs.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Engage the gray microwave using the left arm to open.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Grip the microwave's handle and pull it open.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Pull to open the microwave.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the countertop microwave.",
+    "Open the microwave by pulling its handle.",
+    "Pull the microwave's handle using the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Get the medium microwave open.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the handle to open the countertop microwave.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Engage the microwave's handle and open it.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Pull the gray microwave's handle to open it.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the door to open the medium microwave.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Engage the microwave using the left arm to open.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Use the left arm to grab and open the microwave.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Use the left arm to pull the microwave open.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Pull and open the microwave with knobs.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the gray microwave.",
+    "Access the inside by opening the gray microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Get the medium microwave open.",
+    "Open the medium microwave using the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the medium microwave.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Grab the handle and open the microwave with knobs.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Pull the handle to open the microwave.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Engage the microwave using the left arm to open.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Use the left arm to pull the countertop microwave open."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000028.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..716d4c6c1de32dfdb0089cfe5187696491db1c59
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000028.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Get the microwave for heating food open.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Use the left arm to pull the microwave open.",
+    "Activate the door to open the microwave with glass top.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Pull and open the microwave with smooth surface.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Engage the left arm to open the microwave.",
+    "Pull the medium microwave with slanted sides's handle using the left arm.",
+    "Open the microwave for heating food using the left arm.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Pull the door of the microwave to open it.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Grab and pull the microwave using the left arm.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Get the microwave open.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Pull and open the rectangular gray microwave.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Pull the handle of the microwave with the left arm.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Pull the medium microwave with slanted sides's handle using the left arm.",
+    "Open the microwave with glass top using the left arm.",
+    "Use the left arm to grab and open the microwave.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the handle to open the microwave for heating food.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Access the inside by opening the microwave with glass top.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Get the microwave with glass top open.",
+    "Pull open the door of the microwave using the left arm.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Grab the handle and open the microwave for heating food.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Engage the medium microwave with slanted sides using the left arm to open.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Pull the microwave with glossy dark gray finish's handle using the left arm.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000029.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..58feb0d5de41500537642b77c37bf7c8e17d4484
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000029.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Open the medium microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull and open the rectangular microwave.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull the handle of the gray microwave to open it.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull the medium microwave's handle to open it.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Get the microwave with patterned top and knobs open.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Engage the gray microwave's handle and open it.",
+    "Use the left arm to pull the medium microwave open.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Pull the door to open the microwave with knobs.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Grab the handle and open the medium microwave.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull the door of the countertop microwave to open it.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Pull the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Pull to open the countertop microwave.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Handle the microwave and open it with the left arm.",
+    "Open the countertop microwave using the left arm.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Pull the medium microwave's handle to open it.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Get the microwave open.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Engage the microwave's handle and open it.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Pull the door to open the medium microwave.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Engage the left arm to open the microwave.",
+    "Pull the handle to open the medium microwave.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Pull the medium microwave's handle using the left arm.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Pull to open the yellow-sided microwave.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Open the microwave with knobs using the left arm.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Grip the microwave's handle and pull it open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Pull and open the countertop microwave.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull the handle of the medium microwave to open it.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Pull the countertop microwave's handle to open it.",
+    "Pull the handle to open the microwave.",
+    "Get the yellow-sided microwave open.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Engage the countertop microwave using the left arm to open."
+  ],
+  "unseen": [
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000030.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b53088161ba99a06743172beb7570ffd98910cf
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000030.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the countertop microwave by grasping its handle.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Pull the microwave's handle using the left arm.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Pull to open the countertop microwave.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Use the left arm to pull the medium microwave open.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Engage the left arm to open the medium microwave.",
+    "Pull the handle of the microwave to open it.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the door to open the microwave.",
+    "Activate the door to open the microwave with knobs.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Pull and open the microwave with knobs.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Get the gray microwave with two control knobs open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Use the left arm to grab and open the microwave.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Use the handle to open the gray microwave.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Grab the handle and open the gray microwave.",
+    "Engage the medium microwave using the left arm to open.",
+    "Pull the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Pull to open the microwave.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Use the left arm to pull the medium microwave open.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the door to open the countertop microwave.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Pull open the door of the microwave using the left arm.",
+    "Access the inside by opening the microwave.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Get the microwave with patterned top and knobs open.",
+    "Pull the handle to open the medium microwave.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Pull the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the door to open the gray microwave.",
+    "Activate the door to open the rectangular microwave.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Pull and open the yellow-sided microwave.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm."
+  ],
+  "unseen": [
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000031.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f7379cb24f010e7f4ccdc7fffe4944cc54601f6
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000031.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the door of the countertop microwave to open it.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull and open the yellow-sided microwave.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the microwave to open it.",
+    "Pull the yellow-sided microwave's handle using the left arm.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the microwave.",
+    "Open the gray microwave by grasping its handle.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Engage the medium microwave's handle and open it.",
+    "Access the inside by opening the medium microwave.",
+    "Pull the door of the medium microwave to open it.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Pull to open the gray microwave.",
+    "Get the microwave open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull and open the microwave.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Pull the gray microwave with two control knobs's handle using the left arm.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Open the microwave using the left arm.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Utilize the left arm to pull the microwave open.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Open the microwave by pulling its handle.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Use the handle to open the countertop microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Open the countertop microwave by grasping its handle.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Access the inside by opening the gray microwave.",
+    "Pull the door of the countertop microwave to open it.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Pull to open the microwave with textured top panel.",
+    "Get the countertop microwave open.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull and open the microwave with knobs.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the handle of the gray microwave to open it.",
+    "Pull the microwave's handle using the left arm.",
+    "Engage the medium microwave using the left arm to open.",
+    "Open the gray microwave using the left arm."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000032.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7f9980af17b015bf1b5771aaaf0c5ff3948f28f
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000032.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Open the microwave using the left arm.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Pull the microwave's handle to open it.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Get the microwave for heating food open.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull the dark gray slanted microwave box's handle using the left arm.",
+    "Grab the handle and open the microwave.",
+    "Pull to open the microwave with smooth surface.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Handle the microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Get the dark gray slanted microwave box open.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Access the inside by opening the microwave with glass top.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Pull the door to open the microwave with glass top.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Pull and open the microwave.",
+    "Pull the handle to open the microwave.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Pull the microwave's handle using the left arm.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Pull to open the microwave with smooth surface.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Engage the left arm to open the microwave.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Open the microwave with smooth surface using the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Get the medium microwave with slanted sides open.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Pull the handle of the rectangular gray microwave with the left arm."
+  ],
+  "unseen": [
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000033.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb4936d0df67a37836c0e6eac973af6eef04836c
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000033.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Pull the medium microwave with slanted sides's handle using the left arm.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Get the dark gray kitchen microwave open.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave with glass top.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Grab the handle and open the microwave with glass top.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Access the inside by opening the microwave with glass top.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Grab and pull the microwave using the left arm.",
+    "Engage the medium microwave with slanted sides using the left arm to open.",
+    "Pull the handle to open the microwave for heating food.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Pull the medium microwave with slanted sides's handle using the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Pull the microwave's handle to open it.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Activate the door to open the microwave.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the gray and glass microwave for cooking's handle using the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Get the rectangular gray microwave open.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Open the microwave with smooth surface by pulling its door with the left arm."
+  ],
+  "unseen": [
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000034.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6a56c3f1e0bd3c7faee243d2413c867209171cb
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000034.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Access the inside by opening the microwave.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Pull the door to open the microwave for heating food.",
+    "Use the handle to open the microwave.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Handle the gray and glass microwave for cooking and open it with the left arm.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Use the left arm to grab and open the microwave.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave.",
+    "Engage the medium microwave with slanted sides using the left arm to open.",
+    "Pull the microwave with smooth surface's handle using the left arm.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Pull to open the rectangular gray microwave.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Open the microwave for heating food using the left arm.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Use the handle to open the microwave with glass top.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Get the microwave open.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Use the left arm to open the microwave by pulling.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Grab the handle and open the microwave.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Pull the microwave with glass top's handle using the left arm.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Open the microwave using the left arm.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Open the microwave by grasping its handle.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Get the dark gray kitchen microwave open.",
+    "Pull and open the microwave.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Use the left arm to open the microwave by pulling.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Use the left arm to pull the microwave open.",
+    "Open the rectangular gray microwave by pulling its handle."
+  ],
+  "unseen": [
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000035.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..db71e58350cab6fb8c545c4b279558faed1092fd
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000035.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull and open the medium microwave.",
+    "Get the microwave with patterned top and knobs open.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull the door to open the countertop microwave.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the handle to open the microwave with knobs.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull the rectangular microwave's handle using the left arm.",
+    "Engage the microwave using the left arm to open.",
+    "Pull to open the microwave with knobs.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Pull the medium microwave's handle to open it.",
+    "Activate the door to open the medium microwave.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the gray microwave.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Open the medium microwave by pulling its handle.",
+    "Open the microwave using the left arm.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Engage the left arm to open the medium microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Pull the door to open the microwave.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull the countertop microwave's handle using the left arm.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Engage the medium microwave's handle and open it.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Open the medium microwave by pulling on its handle.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Pull the door of the medium microwave to open it.",
+    "Pull and open the microwave with textured top panel.",
+    "Get the yellow-sided microwave open.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle to open the gray microwave.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Pull the door to open the countertop microwave.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the handle to open the microwave with knobs.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull the countertop microwave's handle using the left arm.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Pull to open the microwave with textured top panel.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism."
+  ],
+  "unseen": [
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000036.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f0a73d2e5b9ad75ccb4cf859d877067c3209a0e
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000036.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the gray microwave's handle and pull it open.",
+    "Open the microwave with knobs using the left arm.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Get the microwave open.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Pull to open the yellow-sided microwave.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle of the microwave to open it.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Pull the microwave with patterned top and knobs's handle using the left arm.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Open the gray microwave by pulling its handle.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Get the microwave with knobs open.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull and open the microwave with textured top panel.",
+    "Engage the gray microwave using the left arm to open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Pull to open the yellow-sided microwave.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Pull the door to open the microwave.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Engage the left arm to open the gray microwave.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Use the left arm to pull the microwave open.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Pull the gray microwave with two control knobs's handle using the left arm.",
+    "Open the medium microwave by grasping its handle.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Open the microwave with knobs using the left arm.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Pull the door of the microwave to open it.",
+    "Get the gray microwave with two control knobs open.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull and open the medium microwave.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the countertop microwave's handle to open it.",
+    "Pull to open the medium microwave.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Pull the door to open the yellow-sided microwave."
+  ],
+  "unseen": [
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000037.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f30989bcb6561fd729a2f655867e48b7690a97
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000037.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Open the microwave for heating food using the left arm.",
+    "Pull the dark gray slanted microwave box's handle using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Grab the handle and open the microwave.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Use the handle to open the microwave with glass top.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Use the left arm to open the microwave by pulling.",
+    "Get the microwave for heating food open.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Pull to open the microwave.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Engage the medium microwave with slanted sides using the left arm to open.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Pull the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Grab the handle and open the microwave with glass top.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Pull the door to open the microwave.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Access the inside by opening the microwave for heating food.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Grip the microwave's handle and pull it open.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Get the microwave open.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Activate the door to open the microwave.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Pull the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave for heating food.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open."
+  ],
+  "unseen": [
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000038.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e5d9dcd080015f829422c996588de34ccf297b4
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000038.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Get the dark gray kitchen microwave open.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Pull and open the microwave.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Pull the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Activate the door to open the microwave for heating food.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Engage the microwave's handle and open it.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull the handle of the microwave to open it.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Pull to open the microwave with glass top.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Grasp the microwave's handle and pull to open.",
+    "Get the rectangular gray microwave open.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Pull and open the microwave with smooth surface.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Engage the medium microwave with slanted sides using the left arm to open.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Pull the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Get the microwave with glass top open.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the microwave by grasping its handle.",
+    "Engage the microwave using the left arm to open.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Pull the microwave with smooth surface's handle using the left arm.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides."
+  ],
+  "unseen": [
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000039.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000039.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a4ad102303d62fb166cafbd06be5f3249eec153
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000039.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Grip the microwave's handle and pull it open.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Engage the left arm to open the medium microwave.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the medium microwave by grasping its handle.",
+    "Open the medium microwave by pulling its handle.",
+    "Open the medium microwave using the left arm.",
+    "Pull the door of the gray microwave to open it.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Pull the yellow-sided microwave's handle using the left arm.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Use the handle to open the microwave with knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Access the inside by opening the microwave.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Get the medium microwave open.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Pull and open the microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull to open the yellow-sided microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the handle of the microwave with the left arm.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Handle the microwave and open it with the left arm.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Open the medium microwave by pulling its handle.",
+    "Open the gray microwave by grasping its handle.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Open the microwave with knobs using the left arm.",
+    "Pull the door of the medium microwave to open it.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Pull the microwave with knobs's handle using the left arm.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Activate the door to open the microwave.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Access the inside by opening the rectangular microwave.",
+    "Pull the handle of the microwave to open it.",
+    "Get the gray microwave with two control knobs open.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Pull and open the medium microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Engage the medium microwave's handle and open it.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Grab the handle and open the microwave with knobs.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Open the microwave by pulling with the left arm.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Engage the left arm to open the medium microwave.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Pull the door to open the rectangular microwave."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000040.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000040.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ab6b75015aae96191c873e95f9b6f82d653526
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000040.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the medium microwave.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Open the medium microwave using the left arm.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Open the gray microwave by pulling its handle.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull to open the microwave with knobs.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Pull the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Get the microwave with patterned top and knobs open.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the rectangular microwave.",
+    "Engage the countertop microwave's handle and open it.",
+    "Open the gray microwave by pulling on its handle.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Pull the gray microwave with two control knobs's handle using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Activate the door to open the countertop microwave.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Engage the left arm to open the microwave.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Use the handle to open the medium microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Open the microwave by pulling on its handle.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the countertop microwave by pulling its handle.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Pull the countertop microwave's handle using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Pull the door to open the countertop microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Pull and open the gray microwave."
+  ],
+  "unseen": [
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000041.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000041.json
new file mode 100644
index 0000000000000000000000000000000000000000..de6dc57f7996994f1ee732f7a5817a1b205b8b14
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000041.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Use the left arm to grab and pull the microwave.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Activate the door to open the microwave.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Get the dark gray kitchen microwave open.",
+    "Pull the medium microwave with slanted sides's handle using the left arm.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Pull to open the microwave with smooth surface.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Pull the door to open the microwave with glass top.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Open the medium microwave with slanted sides by grasping its handle.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Activate the door to open the microwave.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Use the handle to open the microwave for heating food.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Get the microwave for heating food open.",
+    "Pull the dark gray kitchen microwave's handle using the left arm.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Pull to open the microwave with smooth surface.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Pull the handle of the microwave to open it.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Engage the microwave using the left arm to open.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Pull the door to open the microwave with glass top.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Pull and open the microwave with smooth surface.",
+    "Activate the door to open the microwave with glass top.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Pull the handle to open the microwave.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Get the microwave with glass top open.",
+    "Pull the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Use the left arm to open the microwave for heating food by pulling."
+  ],
+  "unseen": [
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000042.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000042.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e9113cd7d9428065add6eb8c69532090ed7c86c
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000042.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to grab and pull the yellow-sided microwave.",
+    "Pull the door of the gray microwave to open it.",
+    "Activate the door to open the rectangular microwave.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the door to open the microwave.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Pull to open the gray microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Access the inside by opening the medium microwave.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Grab the handle and open the rectangular microwave.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Pull the handle of the microwave to open it.",
+    "Pull the microwave with patterned top and knobs's handle using the left arm.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Handle the microwave and open it with the left arm.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Open the microwave with knobs using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull and open the countertop microwave.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Activate the door to open the countertop microwave.",
+    "Use the left arm to pull the medium microwave open.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull to open the yellow-sided microwave.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Grab the handle and open the microwave.",
+    "Pull the countertop microwave's handle to open it.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Pull the yellow-sided microwave's handle using the left arm.",
+    "Get the medium microwave open.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Open the countertop microwave using the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull and open the microwave with textured top panel.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Pull to open the gray microwave.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Access the inside by opening the rectangular microwave.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Engage the gray microwave using the left arm to open.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Grab and pull the microwave using the left arm.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Utilize the left arm to pull the rectangular microwave open."
+  ],
+  "unseen": [
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000043.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000043.json
new file mode 100644
index 0000000000000000000000000000000000000000..041facaf00e062a82c51cfdca003e05fdffaa904
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000043.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Access the inside by opening the countertop microwave.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Open the medium microwave using the left arm.",
+    "Get the rectangular microwave open.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Pull and open the yellow-sided microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Pull the door to open the countertop microwave.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Engage the gray microwave's handle and open it.",
+    "Pull the gray microwave with two control knobs's handle using the left arm.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Grip the microwave's handle and pull it open.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the left arm to grab and pull the medium microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Use the handle to open the countertop microwave.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Use the left arm to pull the medium microwave open.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Engage the left arm to open the medium microwave.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the medium microwave using the left arm.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Engage the medium microwave using the left arm to open.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Pull and open the countertop microwave.",
+    "Grab the handle and open the microwave.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Pull to open the gray microwave.",
+    "Pull the door to open the countertop microwave.",
+    "Use the left arm to grab and open the microwave.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Engage the medium microwave's handle and open it.",
+    "Pull the microwave with textured top panel's handle using the left arm.",
+    "Pull the handle of the microwave with the left arm.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Open the medium microwave by pulling on its handle.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Use the left arm to grab and pull the medium microwave.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Use the handle to open the microwave with knobs.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Use the left arm to pull the gray microwave open.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Pull the door of the microwave to open it.",
+    "Activate the door to open the microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Get the countertop microwave open.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Pull and open the rectangular microwave.",
+    "Grab the handle and open the rectangular microwave.",
+    "Handle the microwave and open it with the left arm.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Pull the door to open the gray microwave with two control knobs."
+  ],
+  "unseen": [
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000044.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000044.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef4694e82a8dcf2f707abae781453520b74ce508
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000044.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Pull the handle of the microwave with the left arm.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Engage the left arm to open the dark gray slanted microwave box.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Get the rectangular gray microwave open.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Grab and pull the microwave with glass top using the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Pull the door of the microwave to open it.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Pull the microwave with glass top's handle using the left arm.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Get the medium microwave with slanted sides open.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull the handle of the microwave to open it.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull the microwave's handle using the left arm.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Open the microwave by pulling with the left arm.",
+    "Engage the microwave using the left arm to open.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Pull open the door of the microwave using the left arm.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Grab the handle and open the microwave.",
+    "Get the microwave open.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Use the handle to open the gray appliance with transparent glass top."
+  ],
+  "unseen": [
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000045.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000045.json
new file mode 100644
index 0000000000000000000000000000000000000000..536d82d886c4501edbba49b35a397ff91bc25cb2
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000045.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull to open the microwave with textured top panel.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Get the microwave with patterned top and knobs open.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Engage the gray microwave's handle and open it.",
+    "Open the countertop microwave by pulling its handle.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the countertop microwave.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Pull the microwave's handle to open it.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Utilize the left arm to pull the microwave open.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Open the medium microwave using the left arm.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Pull and open the countertop microwave.",
+    "Engage the left arm to open the medium microwave.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Pull the door of the microwave to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the microwave's handle using the left arm.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull to open the microwave.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Get the microwave with knobs open.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Activate the door to open the rectangular microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Grab the handle and open the microwave.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Pull the door of the microwave to open it.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the countertop microwave's handle using the left arm.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Open the microwave by grasping its handle.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Engage the medium microwave using the left arm to open.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull to open the countertop microwave.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Pull the door to open the microwave with knobs.",
+    "Get the gray microwave with two control knobs open.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Use the handle to open the countertop microwave.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Pull the handle to open the microwave with knobs.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Grab the handle and open the countertop microwave.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle."
+  ],
+  "unseen": [
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000046.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000046.json
new file mode 100644
index 0000000000000000000000000000000000000000..270216b040967309d24e3408351bf86b8f264315
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000046.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Pull the door to open the microwave with glass top.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Open the microwave using the left arm.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Grasp the microwave's handle and pull to open.",
+    "Open the microwave by pulling on its handle.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Get the medium microwave with slanted sides open.",
+    "Pull to open the microwave for heating food.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Access the inside by opening the microwave for heating food.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Pull the handle to open the microwave.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Use the left arm to grab and open the microwave.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Pull the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Grab and pull the microwave using the left arm.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Use the left arm to pull the microwave open.",
+    "Get the gray appliance with transparent glass top open.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Open the microwave with glass top by pulling its door with the left arm.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Pull the gray appliance with transparent glass top's handle using the left arm.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Use the handle to open the microwave with glass top.",
+    "Grip the medium microwave with slanted sides's handle and pull it open.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Pull the door of the microwave to open it."
+  ],
+  "unseen": [
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000047.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000047.json
new file mode 100644
index 0000000000000000000000000000000000000000..8752d6f629f22e8c80b8a52ebd83c98323bf2256
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000047.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the microwave with textured top panel.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Access the inside by opening the countertop microwave.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull to open the rectangular microwave.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Get the microwave with textured top panel open.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Grasp the microwave's handle and pull to open.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Open the microwave using the left arm.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Handle the microwave and open it with the left arm.",
+    "Pull the rectangular microwave's handle using the left arm.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the gray microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull to open the yellow-sided microwave.",
+    "Use the handle to open the rectangular microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to pull the medium microwave open.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Get the microwave with knobs open.",
+    "Grab the handle and open the medium microwave.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Grasp the microwave's handle and pull to open.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull and open the yellow-sided microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Engage the gray microwave's handle and open it.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Open the microwave using the left arm.",
+    "Pull the door to open the microwave with knobs.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Pull the microwave with textured top panel's handle using the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Activate the door to open the gray microwave.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Utilize the left arm to pull the microwave open.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the medium microwave.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Pull to open the rectangular microwave.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Open the gray microwave by pulling its handle.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Get the medium microwave open.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Pull the medium microwave's handle to open it.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull and open the microwave with knobs."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000048.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000048.json
new file mode 100644
index 0000000000000000000000000000000000000000..46aa2510ac8d77a0ccfe982c776c2aa638c97993
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000048.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Engage the medium microwave with slanted sides using the left arm to open.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Pull the door to open the microwave.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Grab and pull the dark gray kitchen microwave using the left arm.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Open the microwave by pulling its handle.",
+    "Activate the door to open the microwave for heating food.",
+    "Pull to open the microwave with glass top.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Get the gray appliance with transparent glass top open.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Pull the microwave with smooth surface's handle using the left arm.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull and open the microwave for heating food.",
+    "Pull the handle to open the microwave.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Utilize the left arm to pull the microwave open.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Open the microwave by pulling its handle.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Get the microwave for heating food open.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Open the microwave for heating food using the left arm.",
+    "Use the left arm to grab and open the microwave.",
+    "Pull the microwave with glass top's handle using the left arm.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Pull the medium microwave with slanted sides's handle to open it.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Activate the door to open the microwave with glass top.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Get the gray and glass microwave for cooking open.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box."
+  ],
+  "unseen": [
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000049.json b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000049.json
new file mode 100644
index 0000000000000000000000000000000000000000..2172dcd1016f70a4d9dc5de2bc1072a294061e08
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/instruction/episode_0000049.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the yellow-sided microwave.",
+    "Access the inside by opening the microwave.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Pull the handle to open the rectangular microwave.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Pull to open the microwave with textured top panel.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Pull the medium microwave's handle using the left arm.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Pull and open the microwave with knobs.",
+    "Open the medium microwave by grasping its handle.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Get the microwave open.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Handle the microwave and open it with the left arm.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Use the handle to open the microwave.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Pull the handle of the medium microwave to open it.",
+    "Grab the handle and open the microwave with knobs.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Open the medium microwave by pulling on its handle.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the medium microwave.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the door to open the countertop microwave.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Pull to open the microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Pull the microwave's handle using the left arm.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Pull and open the medium microwave.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Activate the door to open the microwave with knobs.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Get the microwave open.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Handle the microwave with patterned top and knobs and open it with the left arm.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull the door of the countertop microwave to open it.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Grab the handle and open the rectangular microwave.",
+    "Access the inside by opening the rectangular microwave.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the gray microwave.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Engage the left arm to open the countertop microwave.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Pull the microwave with patterned top and knobs's handle using the left arm.",
+    "Engage the gray microwave with two control knobs's handle and open it."
+  ],
+  "unseen": [
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/scene_info.json b/demo_flow/open_microwave/aloha_agilex/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..29bbaac26c820e04df74f1e3590a595af8dd4584
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/scene_info.json
@@ -0,0 +1,552 @@
+{
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+        "cluttered_table_info": [],
+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
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+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
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+            "{a}": "left"
+        }
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+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
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+        }
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+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
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+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
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+        }
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+        "cluttered_table_info": [],
+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
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+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
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+        }
+    },
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+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
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+        }
+    },
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+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
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+        }
+    },
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+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
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+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_20": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_21": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_22": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_23": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_24": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_25": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_26": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_27": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_28": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_29": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_30": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_31": {
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+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
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+    "episode_32": {
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+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
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+            "{a}": "left"
+        }
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+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
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+        "texture_info": {
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+            "table_texture": null
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+        "texture_info": {
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+            "table_texture": null
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+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
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+            "table_texture": null
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+        "texture_info": {
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+            "{A}": "044_microwave/base0",
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+        }
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+    "episode_43": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
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+    },
+    "episode_44": {
+        "cluttered_table_info": [],
+        "texture_info": {
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+        },
+        "info": {
+            "{A}": "044_microwave/base1",
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+    "episode_45": {
+        "cluttered_table_info": [],
+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_46": {
+        "cluttered_table_info": [],
+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
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+        }
+    },
+    "episode_47": {
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+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
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+        }
+    },
+    "episode_48": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
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+        }
+    },
+    "episode_49": {
+        "cluttered_table_info": [],
+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    }
+}
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/seed.txt b/demo_flow/open_microwave/aloha_agilex/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f95ef5be458ac9f0a82dce53399eed2a4f7f73d8
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/seed.txt
@@ -0,0 +1 @@
+0 4 5 6 7 8 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 27 29 30 31 32 33 34 35 36 37 38 40 41 42 43 44 45 46 47 49 50 51 52 54 55 56 57 58 
\ No newline at end of file
diff --git a/demo_flow/open_microwave/aloha_agilex/video/episode_0000000.mp4 b/demo_flow/open_microwave/aloha_agilex/video/episode_0000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02ac801ff5ce008c5371740fa48f848c74108f3b
--- /dev/null
+++ b/demo_flow/open_microwave/aloha_agilex/video/episode_0000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0be6c356bf5bb14e1032f88bd7dab7902234c157d675ff17f9eb8561b84492e
+size 167715
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+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 123,
+            "windows": 2,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 43.06459075543977,
+            "ik_fail_fraction": 0.1890625,
+            "gateC_ee": {
+                "track_err_pos_max": 0.0061592095133797525,
+                "track_err_rot_deg_max": 0.7170243036853684
+            },
+            "elapsed_s": 33.6
+        },
+        "47": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 128,
+            "windows": 3,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 41.299078072125766,
+            "ik_fail_fraction": 0.19270833333333334,
+            "gateC_ee": {
+                "track_err_pos_max": 0.008235081631671576,
+                "track_err_rot_deg_max": 0.6029034560131571
+            },
+            "elapsed_s": 41.5
+        },
+        "48": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 118,
+            "windows": 3,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 43.00522997950331,
+            "ik_fail_fraction": 0.18229166666666666,
+            "gateC_ee": {
+                "track_err_pos_max": 0.0035609083956326146,
+                "track_err_rot_deg_max": 0.5516150778285086
+            },
+            "elapsed_s": 47.1
+        },
+        "49": {
+            "status": "ok",
+            "check_success": true,
+            "gate0_max_abs_err": 2.725639536294011e-08,
+            "n_captures": 121,
+            "windows": 3,
+            "levels": [
+                0.0,
+                0.25,
+                0.5,
+                0.75,
+                1.0
+            ],
+            "min_restore_psnr": 42.42728999359685,
+            "ik_fail_fraction": 0.16666666666666666,
+            "gateC_ee": {
+                "track_err_pos_max": 0.004547557343700141,
+                "track_err_rot_deg_max": 0.6802197798333172
+            },
+            "elapsed_s": 38.3
+        }
+    }
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000000.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a418093f8b291c61bfed9225b066970ba40790a
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000000.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use separate arms to lift the rectangular-shaped bottle with round cap and the bottle with blue cap.",
+    "Lift the rectangular-shaped bottle with round cap and the bottle with blue cap in one synchronized motion.",
+    "Catch the smooth brown bottle with green label and the bottle with blue cap together.",
+    "Use both arms to grasp the plastic bottle and the white and blue bottle together.",
+    "Secure both the bottle with green cap and the white and blue bottle simultaneously.",
+    "Simultaneously grasp and lift the brown bottle with rounded rectangular shape and the white bottle with blue accents.",
+    "Pick up the pair the rectangular brown body with white top and the bottle for liquids together.",
+    "Take hold of the bottle with green cap and the bottle for liquids at once.",
+    "Grab both bottles in parallel, the dark brown bottle with a squared body and the handheld bottle.",
+    "Lift the smooth brown bottle with green label and the cylindrical bottle together with both arms.",
+    "Reach for the brown bottle with rounded rectangular shape and the white bottle with blue accents with both arms at once.",
+    "Grab the rectangular-shaped bottle with round cap and the blue bottle with label at the same time.",
+    "Use both arms simultaneously for the smooth brown bottle with green label and the smooth plastic bottle.",
+    "Pick up the dark brown bottle with a squared body and the medium-sized bottle simultaneously.",
+    "Each arm should grab one bottle: the plastic bottle and the medium bottle for beverages.",
+    "Hold the medium-sized brown plastic bottle in one arm and the white bottle with blue accents in the other.",
+    "Assign one arm to the medium-sized brown plastic bottle and one to the blue bottle.",
+    "Grasp the different bottles the rectangular brown body with white top and the handheld bottle simultaneously.",
+    "Use one arm for the dark brown bottle with a squared body and the other for the bottle with blue cap.",
+    "Pick up both the rectangular brown body with white top and the cylindrical bottle using separate arms.",
+    "Lift both different bottles, the medium bottle with glossy surface and the bottle for liquids, together.",
+    "Take the brown bottle and the blue bottle with label together, one per arm.",
+    "Grasp the plastic bottle as the other arm grasps the plastic bottle.",
+    "Pick the medium-sized brown plastic bottle and the blue bottle with label up in parallel.",
+    "Raise both bottles at once: the dark brown bottle with a squared body and the bottle for liquids.",
+    "Raise the medium-sized brown plastic bottle and the blue bottle at the same time.",
+    "Use each arm to secure one of the dark brown bottle with a squared body and the bottle with blue cap.",
+    "Raise the medium bottle with glossy surface with one arm and the cylindrical bottle with the other.",
+    "Pick the brown bottle while the other arm picks the white and blue bottle.",
+    "Hold both the dark brown bottle with a squared body and the blue bottle, one in each arm.",
+    "Use separate arms to lift the rectangular brown body with white top and the medium bottle for beverages.",
+    "Lift the smooth plastic bottle with white cap and the white bottle with blue accents in one synchronized motion.",
+    "Catch the smooth plastic bottle with white cap and the bottle with blue cap together.",
+    "Use both arms to grasp the rectangular brown body with white top and the handheld bottle together.",
+    "Secure both the medium-sized brown plastic bottle and the smooth plastic bottle simultaneously.",
+    "Simultaneously grasp and lift the bottle with green cap and the bottle for liquids.",
+    "Pick up the pair the bottle with flat sides and logo and the white bottle with blue accents together.",
+    "Take hold of the medium bottle with glossy surface and the white and blue bottle at once.",
+    "Grab both bottles in parallel, the brown bottle and the bottle with blue cap.",
+    "Lift the rectangular brown body with white top and the white and blue bottle together with both arms.",
+    "Reach for the medium bottle with glossy surface and the handheld bottle with both arms at once.",
+    "Grab the brown bottle with rounded rectangular shape and the plastic bottle at the same time.",
+    "Use both arms simultaneously for the smooth brown bottle with green label and the cylindrical bottle.",
+    "Pick up the rectangular brown body with white top and the plastic bottle simultaneously.",
+    "Each arm should grab one bottle: the dark brown bottle with a squared body and the medium bottle for beverages.",
+    "Hold the smooth brown bottle with green label in one arm and the white and blue bottle in the other.",
+    "Assign one arm to the bottle with green cap and one to the medium bottle for beverages.",
+    "Grasp the different bottles the bottle with green cap and the handheld bottle simultaneously.",
+    "Use one arm for the medium bottle with glossy surface and the other for the bottle for liquids.",
+    "Pick up both the smooth plastic bottle with white cap and the blue bottle with label using separate arms.",
+    "Lift both different bottles, the smooth brown bottle with green label and the cylindrical bottle, together.",
+    "Take the medium-sized brown plastic bottle and the cylindrical bottle together, one per arm.",
+    "Grasp the dark brown bottle with a squared body as the other arm grasps the handheld bottle.",
+    "Pick the rectangular brown body with white top and the smooth plastic bottle up in parallel.",
+    "Raise both bottles at once: the brown bottle and the medium-sized bottle.",
+    "Raise the bottle with green cap and the white bottle with blue accents at the same time.",
+    "Use each arm to secure one of the bottle with green cap and the blue bottle.",
+    "Raise the dark brown bottle with a squared body with one arm and the white bottle with blue accents with the other.",
+    "Pick the smooth plastic bottle with white cap while the other arm picks the medium bottle for beverages.",
+    "Hold both the bottle with flat sides and logo and the medium bottle for beverages, one in each arm.",
+    "Use separate arms to lift the bottle with flat sides and logo and the blue bottle with label.",
+    "Lift the plastic bottle and the medium-sized bottle in one synchronized motion.",
+    "Catch the rectangular brown body with white top and the handheld bottle together.",
+    "Use both arms to grasp the dark brown bottle with a squared body and the medium bottle for beverages together.",
+    "Secure both the medium-sized brown plastic bottle and the bottle for liquids simultaneously.",
+    "Simultaneously grasp and lift the rectangular-shaped bottle with round cap and the handheld bottle.",
+    "Pick up the pair the bottle with flat sides and logo and the blue bottle together.",
+    "Take hold of the bottle with flat sides and logo and the blue bottle with label at once.",
+    "Grab both bottles in parallel, the brown bottle and the cylindrical bottle.",
+    "Lift the smooth brown bottle with green label and the cylindrical bottle together with both arms.",
+    "Reach for the bottle with flat sides and logo and the white bottle with blue accents with both arms at once.",
+    "Grab the smooth brown bottle with green label and the medium bottle for beverages at the same time.",
+    "Use both arms simultaneously for the rectangular-shaped bottle with round cap and the medium bottle for beverages.",
+    "Pick up the dark brown bottle with a squared body and the bottle with blue cap simultaneously.",
+    "Each arm should grab one bottle: the smooth brown bottle with green label and the cylindrical bottle.",
+    "Hold the plastic bottle in one arm and the bottle with blue cap in the other.",
+    "Assign one arm to the bottle with flat sides and logo and one to the white bottle with blue accents.",
+    "Grasp the different bottles the brown bottle with rounded rectangular shape and the handheld bottle simultaneously.",
+    "Use one arm for the brown bottle with rounded rectangular shape and the other for the smooth plastic bottle.",
+    "Pick up both the brown bottle with rounded rectangular shape and the white and blue bottle using separate arms.",
+    "Lift both different bottles, the brown bottle with rounded rectangular shape and the white bottle with blue accents, together.",
+    "Take the rectangular brown body with white top and the blue bottle together, one per arm.",
+    "Grasp the medium-sized brown plastic bottle as the other arm grasps the white bottle with blue accents.",
+    "Pick the brown bottle with rounded rectangular shape and the white bottle with blue accents up in parallel.",
+    "Raise both bottles at once: the bottle with flat sides and logo and the white bottle with blue accents.",
+    "Raise the dark brown bottle with a squared body and the blue bottle with label at the same time.",
+    "Use each arm to secure one of the dark brown bottle with a squared body and the smooth plastic bottle.",
+    "Raise the medium bottle with glossy surface with one arm and the medium-sized bottle with the other.",
+    "Pick the bottle with green cap while the other arm picks the white bottle with blue accents.",
+    "Hold both the rectangular-shaped bottle with round cap and the medium-sized bottle, one in each arm.",
+    "Use separate arms to lift the bottle with flat sides and logo and the white bottle with blue accents.",
+    "Lift the bottle with flat sides and logo and the smooth plastic bottle in one synchronized motion.",
+    "Catch the brown bottle and the bottle with blue cap together.",
+    "Use both arms to grasp the rectangular-shaped bottle with round cap and the plastic bottle together.",
+    "Secure both the rectangular brown body with white top and the blue bottle simultaneously.",
+    "Simultaneously grasp and lift the medium bottle with glossy surface and the handheld bottle.",
+    "Pick up the pair the smooth plastic bottle with white cap and the medium bottle for beverages together.",
+    "Take hold of the medium bottle with glossy surface and the white bottle with blue accents at once.",
+    "Grab both bottles in parallel, the brown bottle with rounded rectangular shape and the handheld bottle.",
+    "Lift the medium bottle with glossy surface and the medium-sized bottle together with both arms."
+  ],
+  "unseen": [
+    "Use one arm for the medium-sized plastic bottle with capped top and the other for the bottle with curved neck design.",
+    "Grasp the bottle with green label and white lid and the bottle with ridged neck simultaneously.",
+    "Pick up the bottle with green label and white lid and the blue-capped plastic bottle in parallel.",
+    "Lift the medium-sized plastic bottle with capped top and the bottle with curved neck design simultaneously with separate arms.",
+    "Pick up both the bottle with green label and white lid and the bottle with ridged neck together.",
+    "Take hold of the liquid container dark brown plastic and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the bottle with green label and white lid and the bottle with curved neck design.",
+    "Grab the liquid container dark brown plastic and the blue-capped plastic bottle at the same time.",
+    "Raise both different bottles, the bottle with green label and white lid and the blue-capped plastic bottle, together.",
+    "Lift the liquid container dark brown plastic as the other arm lifts the bottle with curved neck design.",
+    "Use one arm for the liquid container dark brown plastic and the other for the bottle with curved neck design.",
+    "Grasp the liquid container dark brown plastic and the bottle with curved neck design simultaneously.",
+    "Pick up the bottle with green label and white lid and the blue-capped plastic bottle in parallel.",
+    "Lift the liquid container dark brown plastic and the bottle with ridged neck simultaneously with separate arms.",
+    "Pick up both the bottle with green label and white lid and the blue-capped plastic bottle together.",
+    "Take hold of the medium-sized plastic bottle with capped top and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with curved neck design.",
+    "Grab the medium-sized plastic bottle with capped top and the bottle with ridged neck at the same time.",
+    "Raise both different bottles, the bottle with green label and white lid and the bottle with ridged neck, together.",
+    "Lift the liquid container dark brown plastic as the other arm lifts the blue-capped plastic bottle.",
+    "Use one arm for the bottle with green label and white lid and the other for the bottle with curved neck design.",
+    "Grasp the bottle with green label and white lid and the bottle with curved neck design simultaneously.",
+    "Pick up the bottle with green label and white lid and the blue-capped plastic bottle in parallel.",
+    "Lift the bottle with green label and white lid and the bottle with curved neck design simultaneously with separate arms.",
+    "Pick up both the bottle with green label and white lid and the blue-capped plastic bottle together.",
+    "Take hold of the bottle with green label and white lid and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the medium-sized plastic bottle with capped top and the blue-capped plastic bottle.",
+    "Grab the bottle with green label and white lid and the bottle with ridged neck at the same time.",
+    "Raise both different bottles, the liquid container dark brown plastic and the bottle with curved neck design, together.",
+    "Lift the bottle with green label and white lid as the other arm lifts the bottle with ridged neck.",
+    "Use one arm for the medium-sized plastic bottle with capped top and the other for the blue-capped plastic bottle.",
+    "Grasp the bottle with green label and white lid and the bottle with ridged neck simultaneously.",
+    "Pick up the bottle with green label and white lid and the bottle with curved neck design in parallel.",
+    "Lift the liquid container dark brown plastic and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Pick up both the liquid container dark brown plastic and the bottle with curved neck design together.",
+    "Take hold of the medium-sized plastic bottle with capped top and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the medium-sized plastic bottle with capped top and the bottle with curved neck design.",
+    "Grab the liquid container dark brown plastic and the bottle with curved neck design at the same time.",
+    "Raise both different bottles, the medium-sized plastic bottle with capped top and the blue-capped plastic bottle, together.",
+    "Lift the liquid container dark brown plastic as the other arm lifts the blue-capped plastic bottle.",
+    "Use one arm for the liquid container dark brown plastic and the other for the bottle with curved neck design.",
+    "Grasp the liquid container dark brown plastic and the bottle with ridged neck simultaneously.",
+    "Pick up the bottle with green label and white lid and the bottle with curved neck design in parallel.",
+    "Lift the liquid container dark brown plastic and the bottle with ridged neck simultaneously with separate arms.",
+    "Pick up both the bottle with green label and white lid and the bottle with curved neck design together.",
+    "Take hold of the medium-sized plastic bottle with capped top and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the medium-sized plastic bottle with capped top and the bottle with ridged neck.",
+    "Grab the liquid container dark brown plastic and the bottle with ridged neck at the same time.",
+    "Raise both different bottles, the medium-sized plastic bottle with capped top and the bottle with curved neck design, together.",
+    "Lift the liquid container dark brown plastic as the other arm lifts the bottle with curved neck design.",
+    "Use one arm for the liquid container dark brown plastic and the other for the bottle with curved neck design.",
+    "Grasp the bottle with green label and white lid and the bottle with ridged neck simultaneously.",
+    "Pick up the liquid container dark brown plastic and the bottle with curved neck design in parallel.",
+    "Lift the liquid container dark brown plastic and the bottle with curved neck design simultaneously with separate arms.",
+    "Pick up both the liquid container dark brown plastic and the blue-capped plastic bottle together.",
+    "Take hold of the liquid container dark brown plastic and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with curved neck design.",
+    "Grab the bottle with green label and white lid and the bottle with ridged neck at the same time.",
+    "Raise both different bottles, the liquid container dark brown plastic and the bottle with ridged neck, together.",
+    "Lift the bottle with green label and white lid as the other arm lifts the bottle with curved neck design.",
+    "Use one arm for the liquid container dark brown plastic and the other for the bottle with curved neck design.",
+    "Grasp the medium-sized plastic bottle with capped top and the blue-capped plastic bottle simultaneously.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with curved neck design in parallel.",
+    "Lift the liquid container dark brown plastic and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Pick up both the liquid container dark brown plastic and the bottle with curved neck design together.",
+    "Take hold of the medium-sized plastic bottle with capped top and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the blue-capped plastic bottle.",
+    "Grab the liquid container dark brown plastic and the bottle with ridged neck at the same time.",
+    "Raise both different bottles, the liquid container dark brown plastic and the blue-capped plastic bottle, together.",
+    "Lift the liquid container dark brown plastic as the other arm lifts the bottle with ridged neck.",
+    "Use one arm for the medium-sized plastic bottle with capped top and the other for the bottle with curved neck design.",
+    "Grasp the liquid container dark brown plastic and the bottle with ridged neck simultaneously.",
+    "Pick up the liquid container dark brown plastic and the bottle with curved neck design in parallel.",
+    "Lift the medium-sized plastic bottle with capped top and the bottle with curved neck design simultaneously with separate arms.",
+    "Pick up both the bottle with green label and white lid and the bottle with curved neck design together.",
+    "Take hold of the medium-sized plastic bottle with capped top and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with ridged neck.",
+    "Grab the medium-sized plastic bottle with capped top and the blue-capped plastic bottle at the same time.",
+    "Raise both different bottles, the bottle with green label and white lid and the blue-capped plastic bottle, together.",
+    "Lift the liquid container dark brown plastic as the other arm lifts the bottle with curved neck design.",
+    "Use one arm for the medium-sized plastic bottle with capped top and the other for the bottle with ridged neck.",
+    "Grasp the bottle with green label and white lid and the bottle with ridged neck simultaneously.",
+    "Pick up the liquid container dark brown plastic and the bottle with ridged neck in parallel.",
+    "Lift the liquid container dark brown plastic and the bottle with ridged neck simultaneously with separate arms.",
+    "Pick up both the liquid container dark brown plastic and the bottle with ridged neck together.",
+    "Take hold of the liquid container dark brown plastic and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with green label and white lid and the bottle with curved neck design.",
+    "Grab the liquid container dark brown plastic and the blue-capped plastic bottle at the same time.",
+    "Raise both different bottles, the bottle with green label and white lid and the bottle with curved neck design, together.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the blue-capped plastic bottle.",
+    "Use one arm for the liquid container dark brown plastic and the other for the bottle with curved neck design.",
+    "Grasp the medium-sized plastic bottle with capped top and the bottle with ridged neck simultaneously.",
+    "Pick up the liquid container dark brown plastic and the bottle with curved neck design in parallel.",
+    "Lift the bottle with green label and white lid and the bottle with curved neck design simultaneously with separate arms.",
+    "Pick up both the liquid container dark brown plastic and the blue-capped plastic bottle together.",
+    "Take hold of the liquid container dark brown plastic and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with green label and white lid and the bottle with ridged neck.",
+    "Grab the liquid container dark brown plastic and the bottle with ridged neck at the same time.",
+    "Raise both different bottles, the bottle with green label and white lid and the bottle with curved neck design, together.",
+    "Lift the bottle with green label and white lid as the other arm lifts the blue-capped plastic bottle."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000001.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..d577591b75d9500c774fe1c6431b47a5e2ce05e0
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000001.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use separate arms to lift the yellow label bottle and the bottle with yellow cap.",
+    "Pick up the orange bottle and the orange bottle with bold labeling simultaneously.",
+    "Lift both different bottles, the medium bottle with orange lid and the bottle with yellow cap, together.",
+    "Grasp the bottle with ribbed orange bottom as the other arm grasps the rounded bottom orange plastic bottle.",
+    "Hold both the smooth plastic bottle and the small bottle with bright yellow lid, one in each arm.",
+    "Use each arm to secure one of the smooth plastic bottle and the smooth orange cylindrical bottle.",
+    "Raise the drinking bottle with yellow label with one arm and the cylindrical orange bottle with smooth surface with the other.",
+    "Use both arms simultaneously for the bottle with ribbed orange bottom and the yellow-capped bottle for beverages.",
+    "Simultaneously grasp and lift the bottle with orange cap and the smooth orange cylindrical bottle.",
+    "Pick up both the drinking bottle with yellow label and the small bottle with bright yellow lid using separate arms.",
+    "Raise both bottles at once: the cylindrical orange and white bottle and the yellow-capped orange plastic bottle.",
+    "Grasp the different bottles the cylindrical orange and white bottle and the yellow-capped bottle for beverages simultaneously.",
+    "Hold the bottle with orange cap in one arm and the orange bottle with bold labeling in the other.",
+    "Assign one arm to the cylindrical orange and white bottle and one to the smooth orange cylindrical bottle.",
+    "Each arm should grab one bottle: the white and orange plastic bottle and the bottle with yellow cap.",
+    "Catch the medium bottle with orange lid and the bottle with yellow cap together.",
+    "Use one arm for the drinking bottle with yellow label and the other for the cylindrical orange bottle with smooth surface.",
+    "Pick up the pair the white and orange plastic bottle and the rounded orange bottle with yellow top together.",
+    "Take hold of the cylindrical orange and white bottle and the handheld medium-sized liquid bottle at once.",
+    "Pick the medium orange bottle while the other arm picks the rounded orange bottle with yellow top.",
+    "Use both arms to grasp the bottle with ribbed orange bottom and the rounded bottom orange plastic bottle together.",
+    "Take the cylindrical orange and white bottle and the liquid container with orange body together, one per arm.",
+    "Secure both the medium orange bottle and the smooth orange cylindrical bottle simultaneously.",
+    "Reach for the bottle with ribbed orange bottom and the liquid container with orange body with both arms at once.",
+    "Raise the cylindrical orange and white bottle and the handheld medium-sized liquid bottle at the same time.",
+    "Lift the yellow label bottle and the yellow-capped bottle for beverages in one synchronized motion.",
+    "Lift the plastic bottle and the rounded bottom orange plastic bottle together with both arms.",
+    "Grab both bottles in parallel, the medium bottle with orange lid and the rounded bottom orange plastic bottle.",
+    "Grab the plastic bottle and the yellow-capped orange plastic bottle at the same time.",
+    "Pick the orange bottle and the smooth orange cylindrical bottle up in parallel.",
+    "Use separate arms to lift the white and orange plastic bottle and the smooth orange cylindrical bottle.",
+    "Pick up the bottle with orange cap and the rounded bottom orange plastic bottle simultaneously.",
+    "Lift both different bottles, the medium bottle with orange lid and the bottle with yellow cap, together.",
+    "Grasp the white and orange plastic bottle as the other arm grasps the small bottle with bright yellow lid.",
+    "Hold both the medium bottle with orange lid and the orange bottle with bold labeling, one in each arm.",
+    "Use each arm to secure one of the drinking bottle with yellow label and the orange bottle.",
+    "Raise the smooth plastic bottle with one arm and the rounded orange bottle with yellow top with the other.",
+    "Use both arms simultaneously for the white and orange plastic bottle and the rounded bottom orange plastic bottle.",
+    "Simultaneously grasp and lift the orange and white bottle with cap and the yellow-capped orange plastic bottle.",
+    "Pick up both the bottle with ribbed orange bottom and the yellow-capped bottle for beverages using separate arms.",
+    "Raise both bottles at once: the bottle with orange cap and the rounded orange bottle with yellow top.",
+    "Grasp the different bottles the cylindrical orange and white bottle and the rounded orange bottle with yellow top simultaneously.",
+    "Hold the smooth plastic bottle in one arm and the smooth orange cylindrical bottle in the other.",
+    "Assign one arm to the plastic bottle and one to the orange bottle.",
+    "Each arm should grab one bottle: the yellow label bottle and the yellow-capped orange plastic bottle.",
+    "Catch the bottle with ribbed orange bottom and the smooth orange cylindrical bottle together.",
+    "Use one arm for the orange and white bottle with cap and the other for the orange bottle.",
+    "Pick up the pair the white and orange plastic bottle and the yellow-capped orange plastic bottle together.",
+    "Take hold of the smooth plastic bottle and the rounded bottom orange plastic bottle at once.",
+    "Pick the orange bottle while the other arm picks the rounded orange bottle with yellow top.",
+    "Use both arms to grasp the plastic bottle and the yellow-capped bottle for beverages together.",
+    "Take the medium orange bottle and the yellow-capped bottle for beverages together, one per arm.",
+    "Secure both the white and orange plastic bottle and the orange bottle with bold labeling simultaneously.",
+    "Reach for the bottle with orange cap and the yellow-capped bottle for beverages with both arms at once.",
+    "Raise the plastic bottle and the cylindrical orange bottle with smooth surface at the same time.",
+    "Lift the orange and white bottle with cap and the yellow-capped bottle for beverages in one synchronized motion.",
+    "Lift the medium bottle with orange lid and the yellow-capped bottle for beverages together with both arms.",
+    "Grab both bottles in parallel, the medium orange bottle and the handheld medium-sized liquid bottle.",
+    "Grab the orange and white bottle with cap and the yellow-capped bottle for beverages at the same time.",
+    "Pick the bottle with ribbed orange bottom and the smooth orange cylindrical bottle up in parallel.",
+    "Use separate arms to lift the drinking bottle with yellow label and the handheld medium-sized liquid bottle.",
+    "Pick up the orange and white bottle with cap and the yellow-capped bottle for beverages simultaneously.",
+    "Lift both different bottles, the orange bottle and the small bottle with bright yellow lid, together.",
+    "Grasp the orange bottle as the other arm grasps the cylindrical orange bottle with smooth surface.",
+    "Hold both the orange and white bottle with cap and the handheld medium-sized liquid bottle, one in each arm.",
+    "Use each arm to secure one of the white and orange plastic bottle and the small bottle with bright yellow lid.",
+    "Raise the white and orange plastic bottle with one arm and the orange bottle with the other.",
+    "Use both arms simultaneously for the smooth plastic bottle and the small bottle with bright yellow lid.",
+    "Simultaneously grasp and lift the bottle with orange cap and the rounded orange bottle with yellow top.",
+    "Pick up both the drinking bottle with yellow label and the cylindrical orange bottle with smooth surface using separate arms.",
+    "Raise both bottles at once: the bottle with ribbed orange bottom and the small bottle with bright yellow lid.",
+    "Grasp the different bottles the drinking bottle with yellow label and the yellow-capped orange plastic bottle simultaneously.",
+    "Hold the smooth plastic bottle in one arm and the orange bottle in the other.",
+    "Assign one arm to the orange bottle and one to the smooth orange cylindrical bottle.",
+    "Each arm should grab one bottle: the white and orange plastic bottle and the yellow-capped bottle for beverages.",
+    "Catch the bottle with orange cap and the liquid container with orange body together.",
+    "Use one arm for the white and orange plastic bottle and the other for the rounded bottom orange plastic bottle.",
+    "Pick up the pair the cylindrical orange and white bottle and the yellow-capped bottle for beverages together.",
+    "Take hold of the plastic bottle and the rounded bottom orange plastic bottle at once.",
+    "Pick the orange and white bottle with cap while the other arm picks the cylindrical orange bottle with smooth surface.",
+    "Use both arms to grasp the medium orange bottle and the orange bottle with bold labeling together.",
+    "Take the bottle with ribbed orange bottom and the handheld medium-sized liquid bottle together, one per arm.",
+    "Secure both the drinking bottle with yellow label and the small bottle with bright yellow lid simultaneously.",
+    "Reach for the smooth plastic bottle and the bottle with yellow cap with both arms at once.",
+    "Raise the medium orange bottle and the rounded bottom orange plastic bottle at the same time.",
+    "Lift the medium orange bottle and the smooth orange cylindrical bottle in one synchronized motion.",
+    "Lift the medium bottle with orange lid and the handheld medium-sized liquid bottle together with both arms.",
+    "Grab both bottles in parallel, the bottle with orange cap and the handheld medium-sized liquid bottle.",
+    "Grab the bottle with ribbed orange bottom and the bottle with yellow cap at the same time.",
+    "Pick the bottle with ribbed orange bottom and the cylindrical orange bottle with smooth surface up in parallel.",
+    "Use separate arms to lift the cylindrical orange and white bottle and the yellow-capped orange plastic bottle.",
+    "Pick up the bottle with ribbed orange bottom and the orange bottle with bold labeling simultaneously.",
+    "Lift both different bottles, the plastic bottle and the cylindrical orange bottle with smooth surface, together.",
+    "Grasp the medium orange bottle as the other arm grasps the cylindrical orange bottle with smooth surface.",
+    "Hold both the orange and white bottle with cap and the cylindrical orange bottle with smooth surface, one in each arm.",
+    "Use each arm to secure one of the smooth plastic bottle and the bottle with yellow cap.",
+    "Raise the bottle with orange cap with one arm and the cylindrical orange bottle with smooth surface with the other.",
+    "Use both arms simultaneously for the orange bottle and the rounded orange bottle with yellow top.",
+    "Simultaneously grasp and lift the bottle with orange cap and the liquid container with orange body.",
+    "Pick up both the medium orange bottle and the orange bottle with bold labeling using separate arms."
+  ],
+  "unseen": [
+    "Lift the curvy orange bottle with white section and the medium plastic bottle simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the plastic orange bottle with rounded base at once.",
+    "Raise both different bottles, the bottle with curved body and the medium plastic bottle, together.",
+    "Grasp the bottle with curved body and the medium bottle for liquids simultaneously.",
+    "Use each arm to grab one of the bottle with curved body and the medium plastic bottle.",
+    "Grab the bottle with curved body and the medium plastic bottle at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the medium bottle for liquids.",
+    "Pick up both the bottle with curved body and the plastic orange bottle with rounded base together.",
+    "Pick up the curvy orange bottle with white section and the plastic orange bottle with rounded base in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the medium plastic bottle.",
+    "Lift the curvy orange bottle with white section and the medium bottle for liquids simultaneously with separate arms.",
+    "Take hold of the curvy orange bottle with white section and the medium plastic bottle at once.",
+    "Raise both different bottles, the curvy orange bottle with white section and the medium bottle for liquids, together.",
+    "Grasp the curvy orange bottle with white section and the medium plastic bottle simultaneously.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the medium plastic bottle.",
+    "Grab the bottle with curved body and the medium plastic bottle at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the curvy orange bottle with white section and the medium plastic bottle together.",
+    "Pick up the bottle with curved body and the medium bottle for liquids in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the medium plastic bottle.",
+    "Lift the bottle with yellow sticker label and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Take hold of the curvy orange bottle with white section and the plastic orange bottle with rounded base at once.",
+    "Raise both different bottles, the bottle with yellow sticker label and the medium plastic bottle, together.",
+    "Grasp the bottle with curved body and the medium bottle for liquids simultaneously.",
+    "Use each arm to grab one of the bottle with curved body and the plastic orange bottle with rounded base.",
+    "Grab the bottle with curved body and the medium plastic bottle at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the medium bottle for liquids.",
+    "Pick up both the curvy orange bottle with white section and the plastic orange bottle with rounded base together.",
+    "Pick up the curvy orange bottle with white section and the medium bottle for liquids in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the plastic orange bottle with rounded base.",
+    "Lift the curvy orange bottle with white section and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the medium bottle for liquids at once.",
+    "Raise both different bottles, the bottle with yellow sticker label and the medium plastic bottle, together.",
+    "Grasp the bottle with curved body and the plastic orange bottle with rounded base simultaneously.",
+    "Use each arm to grab one of the bottle with curved body and the medium plastic bottle.",
+    "Grab the bottle with yellow sticker label and the medium plastic bottle at the same time.",
+    "Use one arm for the curvy orange bottle with white section and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the curvy orange bottle with white section and the medium bottle for liquids together.",
+    "Pick up the bottle with yellow sticker label and the plastic orange bottle with rounded base in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the medium plastic bottle.",
+    "Lift the bottle with curved body and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Take hold of the curvy orange bottle with white section and the plastic orange bottle with rounded base at once.",
+    "Raise both different bottles, the bottle with yellow sticker label and the medium bottle for liquids, together.",
+    "Grasp the bottle with yellow sticker label and the medium plastic bottle simultaneously.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the plastic orange bottle with rounded base.",
+    "Grab the curvy orange bottle with white section and the medium plastic bottle at the same time.",
+    "Use one arm for the curvy orange bottle with white section and the other for the medium plastic bottle.",
+    "Pick up both the bottle with curved body and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with curved body and the medium plastic bottle in parallel.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the medium bottle for liquids.",
+    "Lift the bottle with yellow sticker label and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the medium bottle for liquids at once.",
+    "Raise both different bottles, the bottle with curved body and the medium bottle for liquids, together.",
+    "Grasp the curvy orange bottle with white section and the medium bottle for liquids simultaneously.",
+    "Use each arm to grab one of the bottle with curved body and the medium bottle for liquids.",
+    "Grab the bottle with yellow sticker label and the plastic orange bottle with rounded base at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the bottle with yellow sticker label and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with curved body and the medium plastic bottle in parallel.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the plastic orange bottle with rounded base.",
+    "Lift the bottle with curved body and the medium plastic bottle simultaneously with separate arms.",
+    "Take hold of the bottle with curved body and the plastic orange bottle with rounded base at once.",
+    "Raise both different bottles, the bottle with yellow sticker label and the medium plastic bottle, together.",
+    "Grasp the bottle with curved body and the medium bottle for liquids simultaneously.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the plastic orange bottle with rounded base.",
+    "Grab the bottle with yellow sticker label and the medium plastic bottle at the same time.",
+    "Use one arm for the bottle with curved body and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the curvy orange bottle with white section and the plastic orange bottle with rounded base together.",
+    "Pick up the bottle with yellow sticker label and the medium bottle for liquids in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the medium plastic bottle.",
+    "Lift the bottle with curved body and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Take hold of the curvy orange bottle with white section and the medium plastic bottle at once.",
+    "Raise both different bottles, the curvy orange bottle with white section and the medium bottle for liquids, together.",
+    "Grasp the curvy orange bottle with white section and the medium plastic bottle simultaneously.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the plastic orange bottle with rounded base.",
+    "Grab the bottle with yellow sticker label and the medium bottle for liquids at the same time.",
+    "Use one arm for the curvy orange bottle with white section and the other for the medium plastic bottle.",
+    "Pick up both the bottle with yellow sticker label and the medium plastic bottle together.",
+    "Pick up the curvy orange bottle with white section and the medium bottle for liquids in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the plastic orange bottle with rounded base.",
+    "Lift the bottle with curved body and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the medium bottle for liquids at once.",
+    "Raise both different bottles, the curvy orange bottle with white section and the medium plastic bottle, together.",
+    "Grasp the curvy orange bottle with white section and the medium bottle for liquids simultaneously.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the plastic orange bottle with rounded base.",
+    "Grab the bottle with yellow sticker label and the plastic orange bottle with rounded base at the same time.",
+    "Use one arm for the bottle with curved body and the other for the medium plastic bottle.",
+    "Pick up both the bottle with yellow sticker label and the plastic orange bottle with rounded base together.",
+    "Pick up the curvy orange bottle with white section and the plastic orange bottle with rounded base in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the plastic orange bottle with rounded base.",
+    "Lift the curvy orange bottle with white section and the medium plastic bottle simultaneously with separate arms.",
+    "Take hold of the curvy orange bottle with white section and the medium plastic bottle at once.",
+    "Raise both different bottles, the bottle with yellow sticker label and the plastic orange bottle with rounded base, together.",
+    "Grasp the curvy orange bottle with white section and the plastic orange bottle with rounded base simultaneously.",
+    "Use each arm to grab one of the bottle with curved body and the medium plastic bottle.",
+    "Grab the bottle with yellow sticker label and the medium bottle for liquids at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the bottle with yellow sticker label and the medium bottle for liquids together.",
+    "Pick up the bottle with curved body and the medium bottle for liquids in parallel.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the medium bottle for liquids."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000002.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..f16f6602e05a850994dec164e33946d8567e73b2
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000002.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise both bottles at once: the small bottle with decorative design and the yellow capped drink bottle.",
+    "Use one arm for the white-capped bottle and the other for the drink bottle with rounded yellow lid.",
+    "Simultaneously grasp and lift the small curved plastic bottle and the black plastic bottle with Pepsi logo.",
+    "Raise the brown bottle with one arm and the beverage bottle with black body with the other.",
+    "Assign one arm to the bottle with black label and one to the black bottle.",
+    "Pick up the brown bottle and the black cylindrical bottle with ridges simultaneously.",
+    "Take the bottle holding liquid and the drink bottle with rounded yellow lid together, one per arm.",
+    "Lift the brown bottle and the bottle with blue and yellow print in one synchronized motion.",
+    "Pick the bottle with black label and the yellow capped drink bottle up in parallel.",
+    "Reach for the plastic bottle and the bottle with blue and yellow print with both arms at once.",
+    "Each arm should grab one bottle: the white-capped bottle and the yellow capped drink bottle.",
+    "Lift the hand-sized plastic bottle and the yellow-capped cylindrical bottle together with both arms.",
+    "Grasp the different bottles the smooth brown and white patterned bottle and the black cylindrical bottle with ridges simultaneously.",
+    "Use each arm to secure one of the bottle holding liquid and the black bottle.",
+    "Grasp the bottle with brown and white patterns as the other arm grasps the yellow-capped cylindrical bottle.",
+    "Raise the bottle with black label and the black plastic bottle with Pepsi logo at the same time.",
+    "Grab the plastic bottle and the bottle with blue and yellow print at the same time.",
+    "Take hold of the small bottle with decorative design and the yellow capped drink bottle at once.",
+    "Use both arms to grasp the bottle with black label and the yellow-capped cylindrical bottle together.",
+    "Use both arms simultaneously for the plastic bottle and the drink bottle with rounded yellow lid.",
+    "Pick the bottle with black label while the other arm picks the bottle with blue and yellow print.",
+    "Hold both the small bottle with decorative design and the bottle with blue and yellow print, one in each arm.",
+    "Pick up the pair the small curved plastic bottle and the yellow-capped cylindrical bottle together.",
+    "Hold the brown bottle in one arm and the black bottle in the other.",
+    "Grab both bottles in parallel, the small bottle with decorative design and the smooth black bottle with ridges.",
+    "Catch the bottle with white screw cap and the bottle with blue and yellow print together.",
+    "Secure both the small bottle with decorative design and the black plastic bottle with Pepsi logo simultaneously.",
+    "Pick up both the bottle holding liquid and the bottle with blue and yellow print using separate arms.",
+    "Lift both different bottles, the white-capped bottle and the smooth black bottle with ridges, together.",
+    "Use separate arms to lift the bottle with brown and white patterns and the plastic bottle with colorful label.",
+    "Raise both bottles at once: the small bottle with decorative design and the bottle with blue and yellow print.",
+    "Use one arm for the hand-sized plastic bottle and the other for the plastic bottle with colorful label.",
+    "Simultaneously grasp and lift the smooth brown and white patterned bottle and the drink bottle with rounded yellow lid.",
+    "Raise the small bottle with decorative design with one arm and the black bottle with the other.",
+    "Assign one arm to the bottle holding liquid and one to the black cylindrical bottle with ridges.",
+    "Pick up the small curved plastic bottle and the plastic bottle with colorful label simultaneously.",
+    "Take the bottle with black label and the black bottle together, one per arm.",
+    "Lift the curved bottle with white top and the smooth black bottle with ridges in one synchronized motion.",
+    "Pick the bottle with brown and white patterns and the bottle with blue and yellow print up in parallel.",
+    "Reach for the smooth brown and white patterned bottle and the yellow-capped cylindrical bottle with both arms at once.",
+    "Each arm should grab one bottle: the curved bottle with white top and the medium bottle with yellow cap.",
+    "Lift the bottle holding liquid and the medium black bottle with printed label together with both arms.",
+    "Grasp the different bottles the smooth brown and white patterned bottle and the drink bottle with rounded yellow lid simultaneously.",
+    "Use each arm to secure one of the bottle with black label and the yellow capped drink bottle.",
+    "Grasp the bottle with black label as the other arm grasps the beverage bottle with black body.",
+    "Raise the bottle with white screw cap and the beverage bottle with black body at the same time.",
+    "Grab the hand-sized plastic bottle and the yellow capped drink bottle at the same time.",
+    "Take hold of the bottle with black label and the plastic bottle with colorful label at once.",
+    "Use both arms to grasp the bottle with brown and white patterns and the black plastic bottle with Pepsi logo together.",
+    "Use both arms simultaneously for the plastic bottle and the yellow-capped cylindrical bottle.",
+    "Pick the small bottle with decorative design while the other arm picks the yellow capped drink bottle.",
+    "Hold both the small bottle with decorative design and the black plastic bottle with Pepsi logo, one in each arm.",
+    "Pick up the pair the bottle with black label and the smooth black bottle with ridges together.",
+    "Hold the small curved plastic bottle in one arm and the medium black bottle with printed label in the other.",
+    "Grab both bottles in parallel, the bottle with white screw cap and the medium black bottle with printed label.",
+    "Catch the bottle with white screw cap and the medium bottle with yellow cap together.",
+    "Secure both the bottle with white screw cap and the beverage bottle with black body simultaneously.",
+    "Pick up both the white-capped bottle and the bottle with blue and yellow print using separate arms.",
+    "Lift both different bottles, the hand-sized plastic bottle and the bottle with blue and yellow print, together.",
+    "Use separate arms to lift the white-capped bottle and the plastic bottle with colorful label.",
+    "Raise both bottles at once: the plastic bottle and the drink bottle with rounded yellow lid.",
+    "Use one arm for the brown bottle and the other for the bottle with blue and yellow print.",
+    "Simultaneously grasp and lift the bottle with black label and the medium bottle with yellow cap.",
+    "Raise the plastic bottle with one arm and the medium black bottle with printed label with the other.",
+    "Assign one arm to the bottle with black label and one to the yellow-capped cylindrical bottle.",
+    "Pick up the plastic bottle and the black cylindrical bottle with ridges simultaneously.",
+    "Take the white-capped bottle and the black plastic bottle with Pepsi logo together, one per arm.",
+    "Lift the small curved plastic bottle and the yellow-capped cylindrical bottle in one synchronized motion.",
+    "Pick the smooth brown and white patterned bottle and the medium black bottle with printed label up in parallel.",
+    "Reach for the small bottle with decorative design and the beverage bottle with black body with both arms at once.",
+    "Each arm should grab one bottle: the bottle with white screw cap and the medium bottle with yellow cap.",
+    "Lift the curved bottle with white top and the smooth black bottle with ridges together with both arms.",
+    "Grasp the different bottles the bottle with brown and white patterns and the beverage bottle with black body simultaneously.",
+    "Use each arm to secure one of the bottle with black label and the medium bottle with yellow cap.",
+    "Grasp the bottle with brown and white patterns as the other arm grasps the black plastic bottle with Pepsi logo.",
+    "Raise the bottle with brown and white patterns and the smooth black bottle with ridges at the same time.",
+    "Grab the smooth brown and white patterned bottle and the yellow capped drink bottle at the same time.",
+    "Take hold of the bottle with black label and the medium black bottle with printed label at once.",
+    "Use both arms to grasp the small bottle with decorative design and the beverage bottle with black body together.",
+    "Use both arms simultaneously for the hand-sized plastic bottle and the yellow-capped cylindrical bottle.",
+    "Pick the smooth brown and white patterned bottle while the other arm picks the medium black bottle with printed label.",
+    "Hold both the bottle holding liquid and the black plastic bottle with Pepsi logo, one in each arm.",
+    "Pick up the pair the hand-sized plastic bottle and the yellow capped drink bottle together.",
+    "Hold the small bottle with decorative design in one arm and the smooth black bottle with ridges in the other.",
+    "Grab both bottles in parallel, the white-capped bottle and the yellow-capped cylindrical bottle.",
+    "Catch the hand-sized plastic bottle and the black cylindrical bottle with ridges together.",
+    "Secure both the curved bottle with white top and the beverage bottle with black body simultaneously.",
+    "Pick up both the plastic bottle and the beverage bottle with black body using separate arms.",
+    "Lift both different bottles, the smooth brown and white patterned bottle and the bottle with blue and yellow print, together.",
+    "Use separate arms to lift the bottle with black label and the black cylindrical bottle with ridges.",
+    "Raise both bottles at once: the plastic bottle and the black plastic bottle with Pepsi logo.",
+    "Use one arm for the bottle with black label and the other for the black plastic bottle with Pepsi logo.",
+    "Simultaneously grasp and lift the bottle holding liquid and the plastic bottle with colorful label.",
+    "Raise the plastic bottle with one arm and the yellow capped drink bottle with the other.",
+    "Assign one arm to the white-capped bottle and one to the beverage bottle with black body.",
+    "Pick up the bottle with white screw cap and the medium bottle with yellow cap simultaneously.",
+    "Take the small curved plastic bottle and the black bottle together, one per arm.",
+    "Lift the small bottle with decorative design and the yellow capped drink bottle in one synchronized motion.",
+    "Pick the brown bottle and the yellow-capped cylindrical bottle up in parallel.",
+    "Reach for the hand-sized plastic bottle and the yellow-capped cylindrical bottle with both arms at once."
+  ],
+  "unseen": [
+    "Pick up the brown bottle with glossy swirls and the bottle with ridges near base in parallel.",
+    "Grasp the glossy brown bottle and the plastic bottle with blue label simultaneously.",
+    "Pick up both the brown bottle with glossy swirls and the plastic bottle with blue label together.",
+    "Take hold of the brown bottle with glossy swirls and the bottle with ridges near base at once.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the bottle with ridges near base.",
+    "Use each arm to grab one of the brown bottle with glossy swirls and the bottle with ridges near base.",
+    "Grab the brown bottle with glossy swirls and the bottle with ridges near base at the same time.",
+    "Lift the brown bottle with glossy swirls and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the brown bottle with glossy swirls and the bottle with ridges near base, together.",
+    "Lift the cylindrical bottle with curved sides as the other arm lifts the plastic bottle with blue label.",
+    "Pick up the brown bottle with glossy swirls and the bottle with ridges near base in parallel.",
+    "Grasp the glossy brown bottle and the hand-sized bottle with ridged bottom simultaneously.",
+    "Pick up both the brown bottle with glossy swirls and the bottle with ridges near base together.",
+    "Take hold of the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom at once.",
+    "Use one arm for the glossy brown bottle and the other for the plastic bottle with blue label.",
+    "Use each arm to grab one of the cylindrical bottle with curved sides and the plastic bottle with blue label.",
+    "Grab the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom at the same time.",
+    "Lift the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Raise both different bottles, the glossy brown bottle and the hand-sized bottle with ridged bottom, together.",
+    "Lift the brown bottle with glossy swirls as the other arm lifts the plastic bottle with blue label.",
+    "Pick up the brown bottle with glossy swirls and the plastic bottle with blue label in parallel.",
+    "Grasp the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom simultaneously.",
+    "Pick up both the glossy brown bottle and the bottle with ridges near base together.",
+    "Take hold of the glossy brown bottle and the bottle with ridges near base at once.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the glossy brown bottle and the hand-sized bottle with ridged bottom.",
+    "Grab the glossy brown bottle and the plastic bottle with blue label at the same time.",
+    "Lift the glossy brown bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom, together.",
+    "Lift the brown bottle with glossy swirls as the other arm lifts the bottle with ridges near base.",
+    "Pick up the glossy brown bottle and the hand-sized bottle with ridged bottom in parallel.",
+    "Grasp the glossy brown bottle and the bottle with ridges near base simultaneously.",
+    "Pick up both the brown bottle with glossy swirls and the plastic bottle with blue label together.",
+    "Take hold of the brown bottle with glossy swirls and the hand-sized bottle with ridged bottom at once.",
+    "Use one arm for the glossy brown bottle and the other for the plastic bottle with blue label.",
+    "Use each arm to grab one of the glossy brown bottle and the bottle with ridges near base.",
+    "Grab the brown bottle with glossy swirls and the plastic bottle with blue label at the same time.",
+    "Lift the brown bottle with glossy swirls and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom, together.",
+    "Lift the glossy brown bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Pick up the cylindrical bottle with curved sides and the plastic bottle with blue label in parallel.",
+    "Grasp the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom simultaneously.",
+    "Pick up both the glossy brown bottle and the plastic bottle with blue label together.",
+    "Take hold of the glossy brown bottle and the plastic bottle with blue label at once.",
+    "Use one arm for the glossy brown bottle and the other for the bottle with ridges near base.",
+    "Use each arm to grab one of the glossy brown bottle and the plastic bottle with blue label.",
+    "Grab the cylindrical bottle with curved sides and the plastic bottle with blue label at the same time.",
+    "Lift the brown bottle with glossy swirls and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Raise both different bottles, the glossy brown bottle and the bottle with ridges near base, together.",
+    "Lift the cylindrical bottle with curved sides as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Pick up the brown bottle with glossy swirls and the plastic bottle with blue label in parallel.",
+    "Grasp the brown bottle with glossy swirls and the hand-sized bottle with ridged bottom simultaneously.",
+    "Pick up both the brown bottle with glossy swirls and the hand-sized bottle with ridged bottom together.",
+    "Take hold of the cylindrical bottle with curved sides and the bottle with ridges near base at once.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the glossy brown bottle and the hand-sized bottle with ridged bottom.",
+    "Grab the cylindrical bottle with curved sides and the bottle with ridges near base at the same time.",
+    "Lift the glossy brown bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the glossy brown bottle and the plastic bottle with blue label, together.",
+    "Lift the brown bottle with glossy swirls as the other arm lifts the plastic bottle with blue label.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with ridges near base in parallel.",
+    "Grasp the cylindrical bottle with curved sides and the bottle with ridges near base simultaneously.",
+    "Pick up both the brown bottle with glossy swirls and the bottle with ridges near base together.",
+    "Take hold of the glossy brown bottle and the hand-sized bottle with ridged bottom at once.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the bottle with ridges near base.",
+    "Use each arm to grab one of the glossy brown bottle and the plastic bottle with blue label.",
+    "Grab the glossy brown bottle and the bottle with ridges near base at the same time.",
+    "Lift the glossy brown bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom, together.",
+    "Lift the glossy brown bottle as the other arm lifts the plastic bottle with blue label.",
+    "Pick up the brown bottle with glossy swirls and the plastic bottle with blue label in parallel.",
+    "Grasp the glossy brown bottle and the bottle with ridges near base simultaneously.",
+    "Pick up both the cylindrical bottle with curved sides and the plastic bottle with blue label together.",
+    "Take hold of the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom at once.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the brown bottle with glossy swirls and the plastic bottle with blue label.",
+    "Grab the brown bottle with glossy swirls and the bottle with ridges near base at the same time.",
+    "Lift the glossy brown bottle and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the bottle with ridges near base, together.",
+    "Lift the glossy brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Pick up the glossy brown bottle and the bottle with ridges near base in parallel.",
+    "Grasp the brown bottle with glossy swirls and the hand-sized bottle with ridged bottom simultaneously.",
+    "Pick up both the glossy brown bottle and the hand-sized bottle with ridged bottom together.",
+    "Take hold of the cylindrical bottle with curved sides and the plastic bottle with blue label at once.",
+    "Use one arm for the glossy brown bottle and the other for the plastic bottle with blue label.",
+    "Use each arm to grab one of the cylindrical bottle with curved sides and the plastic bottle with blue label.",
+    "Grab the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom at the same time.",
+    "Lift the cylindrical bottle with curved sides and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise both different bottles, the glossy brown bottle and the hand-sized bottle with ridged bottom, together.",
+    "Lift the glossy brown bottle as the other arm lifts the plastic bottle with blue label.",
+    "Pick up the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom in parallel.",
+    "Grasp the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom simultaneously.",
+    "Pick up both the glossy brown bottle and the hand-sized bottle with ridged bottom together.",
+    "Take hold of the cylindrical bottle with curved sides and the plastic bottle with blue label at once.",
+    "Use one arm for the glossy brown bottle and the other for the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom.",
+    "Grab the glossy brown bottle and the bottle with ridges near base at the same time.",
+    "Lift the cylindrical bottle with curved sides and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the plastic bottle with blue label, together.",
+    "Lift the brown bottle with glossy swirls as the other arm lifts the plastic bottle with blue label."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000003.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1c3223f3c8eb37c850806aa50597c2e4ad64431
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000003.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Assign one arm to the plastic bottle with printed label and one to the black plastic bottle with Pepsi logo.",
+    "Use each arm to secure one of the medium bottle with smooth texture and the beverage bottle with black body.",
+    "Grasp the different bottles the bottle with dark brown color and the medium black bottle with printed label simultaneously.",
+    "Use one arm for the white-capped brown cylindrical bottle and the other for the beverage bottle with black body.",
+    "Each arm should grab one bottle: the bottle with brown body and white top and the black bottle.",
+    "Hold both the medium plastic bottle and the black plastic bottle with Pepsi logo, one in each arm.",
+    "Raise both bottles at once: the plastic bottle with printed label and the plastic bottle with colorful label.",
+    "Take hold of the medium bottle with smooth texture and the plastic bottle with colorful label at once.",
+    "Grasp the bottle with brown body and white top as the other arm grasps the smooth black bottle with ridges.",
+    "Use both arms simultaneously for the cylindrical bottle with narrow neck and the bottle with blue and yellow print.",
+    "Raise the bottle with dark brown color and the plastic bottle with colorful label at the same time.",
+    "Pick up the plastic bottle with printed label and the bottle with blue and yellow print simultaneously.",
+    "Catch the white-capped brown cylindrical bottle and the drink bottle with rounded yellow lid together.",
+    "Raise the cylindrical bottle with narrow neck with one arm and the black cylindrical bottle with ridges with the other.",
+    "Simultaneously grasp and lift the handheld brown bottle with white lid and the medium bottle with yellow cap.",
+    "Lift the plastic bottle for liquids and the black plastic bottle with Pepsi logo together with both arms.",
+    "Take the medium plastic bottle and the black plastic bottle with Pepsi logo together, one per arm.",
+    "Pick the medium bottle with smooth texture while the other arm picks the medium black bottle with printed label.",
+    "Use both arms to grasp the bottle with white cap and the yellow capped drink bottle together.",
+    "Pick up the pair the handheld brown bottle with white lid and the black cylindrical bottle with ridges together.",
+    "Secure both the white-capped brown cylindrical bottle and the drink bottle with rounded yellow lid simultaneously.",
+    "Use separate arms to lift the bottle with dark brown color and the black bottle.",
+    "Grab the cylindrical bottle with narrow neck and the bottle with blue and yellow print at the same time.",
+    "Hold the bottle with brown body and white top in one arm and the yellow capped drink bottle in the other.",
+    "Lift the medium bottle with smooth texture and the medium black bottle with printed label in one synchronized motion.",
+    "Pick up both the rounded bottle with printed details and the smooth black bottle with ridges using separate arms.",
+    "Reach for the handheld brown bottle with white lid and the yellow-capped cylindrical bottle with both arms at once.",
+    "Lift both different bottles, the smooth brown bottle and the medium black bottle with printed label, together.",
+    "Pick the plastic bottle with printed label and the plastic bottle with colorful label up in parallel.",
+    "Grab both bottles in parallel, the smooth brown bottle and the drink bottle with rounded yellow lid.",
+    "Assign one arm to the plastic bottle for liquids and one to the black plastic bottle with Pepsi logo.",
+    "Use each arm to secure one of the plastic bottle for liquids and the smooth black bottle with ridges.",
+    "Grasp the different bottles the plastic bottle with printed label and the black bottle simultaneously.",
+    "Use one arm for the rounded bottle with printed details and the other for the black cylindrical bottle with ridges.",
+    "Each arm should grab one bottle: the handheld brown bottle with white lid and the black plastic bottle with Pepsi logo.",
+    "Hold both the smooth brown bottle and the yellow capped drink bottle, one in each arm.",
+    "Raise both bottles at once: the medium bottle with smooth texture and the medium bottle with yellow cap.",
+    "Take hold of the plastic bottle for liquids and the black plastic bottle with Pepsi logo at once.",
+    "Grasp the plastic bottle with printed label as the other arm grasps the medium bottle with yellow cap.",
+    "Use both arms simultaneously for the rounded bottle with printed details and the medium bottle with yellow cap.",
+    "Raise the bottle with brown body and white top and the medium black bottle with printed label at the same time.",
+    "Pick up the bottle with white cap and the black plastic bottle with Pepsi logo simultaneously.",
+    "Catch the white-capped brown cylindrical bottle and the beverage bottle with black body together.",
+    "Raise the medium bottle with smooth texture with one arm and the drink bottle with rounded yellow lid with the other.",
+    "Simultaneously grasp and lift the medium plastic bottle and the bottle with blue and yellow print.",
+    "Lift the smooth brown bottle and the drink bottle with rounded yellow lid together with both arms.",
+    "Take the rounded bottle with printed details and the yellow capped drink bottle together, one per arm.",
+    "Pick the bottle with brown body and white top while the other arm picks the medium black bottle with printed label.",
+    "Use both arms to grasp the bottle with brown body and white top and the beverage bottle with black body together.",
+    "Pick up the pair the plastic bottle for liquids and the black bottle together.",
+    "Secure both the handheld brown bottle with white lid and the smooth black bottle with ridges simultaneously.",
+    "Use separate arms to lift the medium bottle with smooth texture and the plastic bottle with colorful label.",
+    "Grab the smooth brown bottle and the bottle with blue and yellow print at the same time.",
+    "Hold the plastic bottle for liquids in one arm and the yellow-capped cylindrical bottle in the other.",
+    "Lift the plastic bottle with printed label and the beverage bottle with black body in one synchronized motion.",
+    "Pick up both the cylindrical bottle with narrow neck and the bottle with blue and yellow print using separate arms.",
+    "Reach for the bottle with dark brown color and the smooth black bottle with ridges with both arms at once.",
+    "Lift both different bottles, the bottle with dark brown color and the beverage bottle with black body, together.",
+    "Pick the medium bottle with smooth texture and the medium black bottle with printed label up in parallel.",
+    "Grab both bottles in parallel, the plastic bottle for liquids and the bottle with blue and yellow print.",
+    "Assign one arm to the rounded bottle with printed details and one to the yellow-capped cylindrical bottle.",
+    "Use each arm to secure one of the white-capped brown cylindrical bottle and the yellow-capped cylindrical bottle.",
+    "Grasp the different bottles the medium bottle with smooth texture and the black plastic bottle with Pepsi logo simultaneously.",
+    "Use one arm for the medium plastic bottle and the other for the smooth black bottle with ridges.",
+    "Each arm should grab one bottle: the bottle with dark brown color and the bottle with blue and yellow print.",
+    "Hold both the bottle with brown body and white top and the drink bottle with rounded yellow lid, one in each arm.",
+    "Raise both bottles at once: the rounded bottle with printed details and the yellow capped drink bottle.",
+    "Take hold of the medium bottle with smooth texture and the bottle with blue and yellow print at once.",
+    "Grasp the medium plastic bottle as the other arm grasps the black bottle.",
+    "Use both arms simultaneously for the bottle with dark brown color and the black bottle.",
+    "Raise the handheld brown bottle with white lid and the medium bottle with yellow cap at the same time.",
+    "Pick up the bottle with brown body and white top and the plastic bottle with colorful label simultaneously.",
+    "Catch the bottle with dark brown color and the bottle with blue and yellow print together.",
+    "Raise the cylindrical bottle with narrow neck with one arm and the medium black bottle with printed label with the other.",
+    "Simultaneously grasp and lift the bottle with white cap and the beverage bottle with black body.",
+    "Lift the white-capped brown cylindrical bottle and the yellow capped drink bottle together with both arms.",
+    "Take the bottle with brown body and white top and the plastic bottle with colorful label together, one per arm.",
+    "Pick the medium bottle with smooth texture while the other arm picks the beverage bottle with black body.",
+    "Use both arms to grasp the handheld brown bottle with white lid and the bottle with blue and yellow print together.",
+    "Pick up the pair the medium bottle with smooth texture and the black plastic bottle with Pepsi logo together.",
+    "Secure both the plastic bottle with printed label and the medium bottle with yellow cap simultaneously.",
+    "Use separate arms to lift the rounded bottle with printed details and the yellow capped drink bottle.",
+    "Grab the medium bottle with smooth texture and the yellow-capped cylindrical bottle at the same time.",
+    "Hold the bottle with white cap in one arm and the beverage bottle with black body in the other.",
+    "Lift the bottle with white cap and the bottle with blue and yellow print in one synchronized motion.",
+    "Pick up both the medium bottle with smooth texture and the smooth black bottle with ridges using separate arms.",
+    "Reach for the bottle with dark brown color and the black plastic bottle with Pepsi logo with both arms at once.",
+    "Lift both different bottles, the handheld brown bottle with white lid and the black bottle, together.",
+    "Pick the plastic bottle for liquids and the smooth black bottle with ridges up in parallel.",
+    "Grab both bottles in parallel, the cylindrical bottle with narrow neck and the drink bottle with rounded yellow lid.",
+    "Assign one arm to the bottle with brown body and white top and one to the bottle with blue and yellow print.",
+    "Use each arm to secure one of the medium plastic bottle and the beverage bottle with black body.",
+    "Grasp the different bottles the white-capped brown cylindrical bottle and the black bottle simultaneously.",
+    "Use one arm for the cylindrical bottle with narrow neck and the other for the bottle with blue and yellow print.",
+    "Each arm should grab one bottle: the medium bottle with smooth texture and the black bottle.",
+    "Hold both the handheld brown bottle with white lid and the yellow-capped cylindrical bottle, one in each arm.",
+    "Raise both bottles at once: the rounded bottle with printed details and the yellow capped drink bottle.",
+    "Take hold of the medium plastic bottle and the bottle with blue and yellow print at once.",
+    "Grasp the handheld brown bottle with white lid as the other arm grasps the black bottle.",
+    "Use both arms simultaneously for the medium plastic bottle and the medium black bottle with printed label."
+  ],
+  "unseen": [
+    "Use one arm for the brown bottle and the other for the bottle with ridges near base.",
+    "Grasp the brown cylindrical bottle with label and the plastic bottle with blue label simultaneously.",
+    "Pick up the lightweight plastic brown bottle and the plastic bottle with blue label in parallel.",
+    "Lift the lightweight plastic brown bottle and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the plastic bottle with blue label, together.",
+    "Grab the brown cylindrical bottle with label and the plastic bottle with blue label at the same time.",
+    "Take hold of the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom at once.",
+    "Pick up both the brown cylindrical bottle with label and the plastic bottle with blue label together.",
+    "Use each arm to grab one of the brown bottle and the bottle with ridges near base.",
+    "Lift the brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the plastic bottle with blue label.",
+    "Grasp the brown cylindrical bottle with label and the plastic bottle with blue label simultaneously.",
+    "Pick up the brown cylindrical bottle with label and the plastic bottle with blue label in parallel.",
+    "Lift the brown cylindrical bottle with label and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise both different bottles, the brown bottle and the bottle with ridges near base, together.",
+    "Grab the lightweight plastic brown bottle and the bottle with ridges near base at the same time.",
+    "Take hold of the lightweight plastic brown bottle and the bottle with ridges near base at once.",
+    "Pick up both the brown bottle and the bottle with ridges near base together.",
+    "Use each arm to grab one of the brown bottle and the plastic bottle with blue label.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the plastic bottle with blue label.",
+    "Grasp the lightweight plastic brown bottle and the bottle with ridges near base simultaneously.",
+    "Pick up the brown bottle and the bottle with ridges near base in parallel.",
+    "Lift the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Raise both different bottles, the brown bottle and the hand-sized bottle with ridged bottom, together.",
+    "Grab the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom at the same time.",
+    "Take hold of the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom at once.",
+    "Pick up both the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom together.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the plastic bottle with blue label.",
+    "Lift the brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the plastic bottle with blue label.",
+    "Grasp the brown cylindrical bottle with label and the plastic bottle with blue label simultaneously.",
+    "Pick up the brown bottle and the bottle with ridges near base in parallel.",
+    "Lift the lightweight plastic brown bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the brown bottle and the hand-sized bottle with ridged bottom, together.",
+    "Grab the lightweight plastic brown bottle and the bottle with ridges near base at the same time.",
+    "Take hold of the brown cylindrical bottle with label and the bottle with ridges near base at once.",
+    "Pick up both the brown cylindrical bottle with label and the bottle with ridges near base together.",
+    "Use each arm to grab one of the brown bottle and the hand-sized bottle with ridged bottom.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the plastic bottle with blue label.",
+    "Grasp the brown cylindrical bottle with label and the bottle with ridges near base simultaneously.",
+    "Pick up the brown bottle and the hand-sized bottle with ridged bottom in parallel.",
+    "Lift the brown bottle and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the plastic bottle with blue label, together.",
+    "Grab the lightweight plastic brown bottle and the bottle with ridges near base at the same time.",
+    "Take hold of the brown cylindrical bottle with label and the plastic bottle with blue label at once.",
+    "Pick up both the lightweight plastic brown bottle and the bottle with ridges near base together.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the plastic bottle with blue label.",
+    "Lift the brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the bottle with ridges near base.",
+    "Grasp the lightweight plastic brown bottle and the bottle with ridges near base simultaneously.",
+    "Pick up the brown bottle and the hand-sized bottle with ridged bottom in parallel.",
+    "Lift the brown bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the plastic bottle with blue label, together.",
+    "Grab the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom at the same time.",
+    "Take hold of the brown bottle and the plastic bottle with blue label at once.",
+    "Pick up both the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom together.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the plastic bottle with blue label.",
+    "Lift the brown bottle as the other arm lifts the plastic bottle with blue label.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the hand-sized bottle with ridged bottom.",
+    "Grasp the brown cylindrical bottle with label and the plastic bottle with blue label simultaneously.",
+    "Pick up the brown bottle and the hand-sized bottle with ridged bottom in parallel.",
+    "Lift the brown cylindrical bottle with label and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the bottle with ridges near base, together.",
+    "Grab the lightweight plastic brown bottle and the bottle with ridges near base at the same time.",
+    "Take hold of the brown bottle and the bottle with ridges near base at once.",
+    "Pick up both the lightweight plastic brown bottle and the plastic bottle with blue label together.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the hand-sized bottle with ridged bottom.",
+    "Lift the brown bottle as the other arm lifts the plastic bottle with blue label.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the hand-sized bottle with ridged bottom.",
+    "Grasp the brown bottle and the plastic bottle with blue label simultaneously.",
+    "Pick up the brown bottle and the plastic bottle with blue label in parallel.",
+    "Lift the brown cylindrical bottle with label and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the bottle with ridges near base, together.",
+    "Grab the brown cylindrical bottle with label and the bottle with ridges near base at the same time.",
+    "Take hold of the brown cylindrical bottle with label and the plastic bottle with blue label at once.",
+    "Pick up both the brown bottle and the plastic bottle with blue label together.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the hand-sized bottle with ridged bottom.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use one arm for the brown bottle and the other for the bottle with ridges near base.",
+    "Grasp the brown cylindrical bottle with label and the bottle with ridges near base simultaneously.",
+    "Pick up the brown cylindrical bottle with label and the plastic bottle with blue label in parallel.",
+    "Lift the lightweight plastic brown bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom, together.",
+    "Grab the lightweight plastic brown bottle and the bottle with ridges near base at the same time.",
+    "Take hold of the lightweight plastic brown bottle and the plastic bottle with blue label at once.",
+    "Pick up both the brown cylindrical bottle with label and the plastic bottle with blue label together.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the plastic bottle with blue label.",
+    "Lift the brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Use one arm for the brown bottle and the other for the bottle with ridges near base.",
+    "Grasp the brown cylindrical bottle with label and the plastic bottle with blue label simultaneously.",
+    "Pick up the brown bottle and the plastic bottle with blue label in parallel.",
+    "Lift the lightweight plastic brown bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the hand-sized bottle with ridged bottom, together.",
+    "Grab the brown bottle and the plastic bottle with blue label at the same time.",
+    "Take hold of the brown cylindrical bottle with label and the plastic bottle with blue label at once.",
+    "Pick up both the brown bottle and the plastic bottle with blue label together.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the bottle with ridges near base.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the plastic bottle with blue label."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000004.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..e544a5efdb0fc7f1275d373b3f930a46de01af6a
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000004.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red bottle with curved grooves and the smooth plastic bottle together with both arms.",
+    "Lift the smooth red cylindrical bottle and the bottle with blue cap in one synchronized motion.",
+    "Take the smooth red cylindrical bottle and the blue bottle together, one per arm.",
+    "Assign one arm to the handheld plastic bottle and one to the white bottle with blue accents.",
+    "Use both arms to grasp the medium-size plastic bottle and the handheld bottle together.",
+    "Pick up the pair the red bottle and the white and blue bottle together.",
+    "Raise both bottles at once: the bottle with red cap and the white and blue bottle.",
+    "Hold the plastic bottle in one arm and the cylindrical bottle in the other.",
+    "Grab the plastic bottle with bright red color and the bottle with blue cap at the same time.",
+    "Grasp the red bottle with narrow neck as the other arm grasps the bottle with blue cap.",
+    "Lift both different bottles, the red bottle with white bottom text and the plastic bottle, together.",
+    "Take hold of the plastic bottle with bright red color and the white and blue bottle at once.",
+    "Hold both the bottle with red cap and the bottle with blue cap, one in each arm.",
+    "Pick the yellow text bottle while the other arm picks the medium-sized bottle.",
+    "Use each arm to secure one of the red bottle with screw cap and the blue bottle with label.",
+    "Simultaneously grasp and lift the red bottle with curved grooves and the handheld bottle.",
+    "Use one arm for the red bottle and the other for the white and blue bottle.",
+    "Grasp the different bottles the red bottle and the medium bottle for beverages simultaneously.",
+    "Raise the medium-size plastic bottle and the blue bottle at the same time.",
+    "Pick up the plastic bottle with bright red color and the handheld bottle simultaneously.",
+    "Use both arms simultaneously for the red bottle and the blue bottle with label.",
+    "Each arm should grab one bottle: the bottle with red cap and the blue bottle with label.",
+    "Pick up both the red bottle with curved grooves and the bottle for liquids using separate arms.",
+    "Secure both the red bottle with screw cap and the white and blue bottle simultaneously.",
+    "Reach for the red bottle with narrow neck and the plastic bottle with both arms at once.",
+    "Raise the handheld plastic bottle with one arm and the white bottle with blue accents with the other.",
+    "Pick the bottle with red cap and the medium-sized bottle up in parallel.",
+    "Grab both bottles in parallel, the red bottle with white bottom text and the bottle for liquids.",
+    "Catch the smooth red cylindrical bottle and the medium-sized bottle together.",
+    "Use separate arms to lift the smooth red cylindrical bottle and the bottle with blue cap.",
+    "Lift the bottle with red cap and the medium-sized bottle together with both arms.",
+    "Lift the red bottle with screw cap and the plastic bottle in one synchronized motion.",
+    "Take the red bottle with curved grooves and the cylindrical bottle together, one per arm.",
+    "Assign one arm to the red bottle with white bottom text and one to the blue bottle with label.",
+    "Use both arms to grasp the handheld plastic bottle and the blue bottle with label together.",
+    "Pick up the pair the red bottle with white bottom text and the cylindrical bottle together.",
+    "Raise both bottles at once: the yellow text bottle and the white and blue bottle.",
+    "Hold the smooth red cylindrical bottle in one arm and the bottle with blue cap in the other.",
+    "Grab the red bottle with curved grooves and the handheld bottle at the same time.",
+    "Grasp the red bottle with curved grooves as the other arm grasps the cylindrical bottle.",
+    "Lift both different bottles, the red bottle with white bottom text and the bottle for liquids, together.",
+    "Take hold of the yellow text bottle and the smooth plastic bottle at once.",
+    "Hold both the red bottle with white bottom text and the medium bottle for beverages, one in each arm.",
+    "Pick the bottle with red cap while the other arm picks the bottle with blue cap.",
+    "Use each arm to secure one of the medium-size plastic bottle and the bottle for liquids.",
+    "Simultaneously grasp and lift the plastic bottle with bright red color and the bottle for liquids.",
+    "Use one arm for the yellow text bottle and the other for the medium bottle for beverages.",
+    "Grasp the different bottles the red bottle with narrow neck and the smooth plastic bottle simultaneously.",
+    "Raise the red bottle with white bottom text and the medium-sized bottle at the same time.",
+    "Pick up the smooth red cylindrical bottle and the plastic bottle simultaneously.",
+    "Use both arms simultaneously for the medium-size plastic bottle and the white bottle with blue accents.",
+    "Each arm should grab one bottle: the red bottle with narrow neck and the blue bottle.",
+    "Pick up both the red bottle with white bottom text and the bottle with blue cap using separate arms.",
+    "Secure both the red bottle with narrow neck and the white and blue bottle simultaneously.",
+    "Reach for the bottle with red cap and the bottle for liquids with both arms at once.",
+    "Raise the red bottle with screw cap with one arm and the plastic bottle with the other.",
+    "Pick the medium-size plastic bottle and the medium bottle for beverages up in parallel.",
+    "Grab both bottles in parallel, the red bottle and the handheld bottle.",
+    "Catch the medium-size plastic bottle and the blue bottle with label together.",
+    "Use separate arms to lift the bottle with red cap and the cylindrical bottle.",
+    "Lift the red bottle with curved grooves and the white and blue bottle together with both arms.",
+    "Lift the red bottle with curved grooves and the bottle with blue cap in one synchronized motion.",
+    "Take the plastic bottle and the smooth plastic bottle together, one per arm.",
+    "Assign one arm to the red bottle with white bottom text and one to the bottle with blue cap.",
+    "Use both arms to grasp the smooth red cylindrical bottle and the blue bottle with label together.",
+    "Pick up the pair the handheld plastic bottle and the blue bottle together.",
+    "Raise both bottles at once: the plastic bottle with bright red color and the smooth plastic bottle.",
+    "Hold the red bottle in one arm and the bottle with blue cap in the other.",
+    "Grab the red bottle with white bottom text and the medium-sized bottle at the same time.",
+    "Grasp the red bottle as the other arm grasps the bottle with blue cap.",
+    "Lift both different bottles, the yellow text bottle and the medium-sized bottle, together.",
+    "Take hold of the smooth red cylindrical bottle and the handheld bottle at once.",
+    "Hold both the bottle with red cap and the handheld bottle, one in each arm.",
+    "Pick the red bottle with narrow neck while the other arm picks the handheld bottle.",
+    "Use each arm to secure one of the medium-size plastic bottle and the handheld bottle.",
+    "Simultaneously grasp and lift the red bottle with white bottom text and the bottle for liquids.",
+    "Use one arm for the red bottle and the other for the white and blue bottle.",
+    "Grasp the different bottles the red bottle with white bottom text and the medium bottle for beverages simultaneously.",
+    "Raise the handheld plastic bottle and the bottle with blue cap at the same time.",
+    "Pick up the yellow text bottle and the handheld bottle simultaneously.",
+    "Use both arms simultaneously for the red bottle with screw cap and the bottle for liquids.",
+    "Each arm should grab one bottle: the plastic bottle with bright red color and the plastic bottle.",
+    "Pick up both the yellow text bottle and the medium-sized bottle using separate arms.",
+    "Secure both the red bottle with white bottom text and the cylindrical bottle simultaneously.",
+    "Reach for the plastic bottle and the plastic bottle with both arms at once.",
+    "Raise the yellow text bottle with one arm and the medium bottle for beverages with the other.",
+    "Pick the red bottle with screw cap and the smooth plastic bottle up in parallel.",
+    "Grab both bottles in parallel, the medium-size plastic bottle and the white and blue bottle.",
+    "Catch the red bottle with screw cap and the smooth plastic bottle together.",
+    "Use separate arms to lift the handheld plastic bottle and the medium bottle for beverages.",
+    "Lift the plastic bottle and the plastic bottle together with both arms.",
+    "Lift the yellow text bottle and the smooth plastic bottle in one synchronized motion.",
+    "Take the red bottle with narrow neck and the plastic bottle together, one per arm.",
+    "Assign one arm to the red bottle with screw cap and one to the blue bottle.",
+    "Use both arms to grasp the handheld plastic bottle and the handheld bottle together.",
+    "Pick up the pair the handheld plastic bottle and the white and blue bottle together.",
+    "Raise both bottles at once: the handheld plastic bottle and the plastic bottle.",
+    "Hold the yellow text bottle in one arm and the blue bottle in the other.",
+    "Grab the red bottle and the smooth plastic bottle at the same time.",
+    "Grasp the red bottle with narrow neck as the other arm grasps the bottle with blue cap."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow Chinese characters and the bottle with ridged neck at the same time.",
+    "Grasp the bottle with yellow Chinese characters and the blue-capped plastic bottle simultaneously.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up the shiny red bottle and the bottle with ridged neck in parallel.",
+    "Lift the shiny red bottle and the bottle with curved neck design simultaneously with separate arms.",
+    "Take hold of the bottle with yellow Chinese characters and the bottle with curved neck design at once.",
+    "Raise both different bottles, the bottle with yellow Chinese characters and the blue-capped plastic bottle, together.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the blue-capped plastic bottle.",
+    "Use each arm to grab one of the shiny red bottle and the bottle with ridged neck.",
+    "Pick up both the bottle with yellow Chinese characters and the bottle with ridged neck together.",
+    "Grab the bottle with white and yellow label and the bottle with curved neck design at the same time.",
+    "Grasp the shiny red bottle and the bottle with curved neck design simultaneously.",
+    "Lift the shiny red bottle as the other arm lifts the bottle with ridged neck.",
+    "Pick up the bottle with yellow Chinese characters and the blue-capped plastic bottle in parallel.",
+    "Lift the shiny red bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Take hold of the bottle with yellow Chinese characters and the bottle with ridged neck at once.",
+    "Raise both different bottles, the shiny red bottle and the bottle with ridged neck, together.",
+    "Use one arm for the bottle with white and yellow label and the other for the bottle with curved neck design.",
+    "Use each arm to grab one of the bottle with white and yellow label and the bottle with curved neck design.",
+    "Pick up both the bottle with yellow Chinese characters and the bottle with curved neck design together.",
+    "Grab the shiny red bottle and the blue-capped plastic bottle at the same time.",
+    "Grasp the shiny red bottle and the bottle with curved neck design simultaneously.",
+    "Lift the shiny red bottle as the other arm lifts the bottle with curved neck design.",
+    "Pick up the shiny red bottle and the blue-capped plastic bottle in parallel.",
+    "Lift the bottle with white and yellow label and the bottle with ridged neck simultaneously with separate arms.",
+    "Take hold of the shiny red bottle and the bottle with ridged neck at once.",
+    "Raise both different bottles, the bottle with yellow Chinese characters and the bottle with ridged neck, together.",
+    "Use one arm for the bottle with white and yellow label and the other for the bottle with ridged neck.",
+    "Use each arm to grab one of the shiny red bottle and the blue-capped plastic bottle.",
+    "Pick up both the bottle with white and yellow label and the bottle with ridged neck together.",
+    "Grab the bottle with yellow Chinese characters and the bottle with ridged neck at the same time.",
+    "Grasp the bottle with white and yellow label and the blue-capped plastic bottle simultaneously.",
+    "Lift the bottle with white and yellow label as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up the bottle with white and yellow label and the bottle with curved neck design in parallel.",
+    "Lift the bottle with white and yellow label and the bottle with ridged neck simultaneously with separate arms.",
+    "Take hold of the shiny red bottle and the blue-capped plastic bottle at once.",
+    "Raise both different bottles, the shiny red bottle and the bottle with ridged neck, together.",
+    "Use one arm for the shiny red bottle and the other for the bottle with ridged neck.",
+    "Use each arm to grab one of the shiny red bottle and the bottle with curved neck design.",
+    "Pick up both the bottle with yellow Chinese characters and the blue-capped plastic bottle together.",
+    "Grab the shiny red bottle and the bottle with curved neck design at the same time.",
+    "Grasp the bottle with yellow Chinese characters and the bottle with ridged neck simultaneously.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the bottle with ridged neck.",
+    "Pick up the shiny red bottle and the blue-capped plastic bottle in parallel.",
+    "Lift the bottle with yellow Chinese characters and the bottle with ridged neck simultaneously with separate arms.",
+    "Take hold of the shiny red bottle and the bottle with curved neck design at once.",
+    "Raise both different bottles, the bottle with yellow Chinese characters and the bottle with curved neck design, together.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the bottle with curved neck design.",
+    "Use each arm to grab one of the shiny red bottle and the bottle with ridged neck.",
+    "Pick up both the bottle with yellow Chinese characters and the bottle with curved neck design together.",
+    "Grab the bottle with yellow Chinese characters and the bottle with ridged neck at the same time.",
+    "Grasp the bottle with white and yellow label and the blue-capped plastic bottle simultaneously.",
+    "Lift the bottle with white and yellow label as the other arm lifts the bottle with ridged neck.",
+    "Pick up the shiny red bottle and the bottle with ridged neck in parallel.",
+    "Lift the bottle with white and yellow label and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Take hold of the bottle with white and yellow label and the bottle with curved neck design at once.",
+    "Raise both different bottles, the shiny red bottle and the bottle with ridged neck, together.",
+    "Use one arm for the bottle with white and yellow label and the other for the bottle with curved neck design.",
+    "Use each arm to grab one of the bottle with white and yellow label and the blue-capped plastic bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the bottle with curved neck design together.",
+    "Grab the shiny red bottle and the bottle with curved neck design at the same time.",
+    "Grasp the shiny red bottle and the bottle with ridged neck simultaneously.",
+    "Lift the bottle with white and yellow label as the other arm lifts the bottle with ridged neck.",
+    "Pick up the bottle with white and yellow label and the bottle with curved neck design in parallel.",
+    "Lift the bottle with yellow Chinese characters and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Take hold of the bottle with yellow Chinese characters and the blue-capped plastic bottle at once.",
+    "Raise both different bottles, the bottle with yellow Chinese characters and the bottle with curved neck design, together.",
+    "Use one arm for the shiny red bottle and the other for the bottle with ridged neck.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the bottle with curved neck design.",
+    "Pick up both the bottle with white and yellow label and the bottle with ridged neck together.",
+    "Grab the bottle with yellow Chinese characters and the bottle with curved neck design at the same time.",
+    "Grasp the shiny red bottle and the bottle with curved neck design simultaneously.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the bottle with curved neck design.",
+    "Pick up the bottle with white and yellow label and the bottle with curved neck design in parallel.",
+    "Lift the bottle with yellow Chinese characters and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Take hold of the bottle with yellow Chinese characters and the bottle with ridged neck at once.",
+    "Raise both different bottles, the shiny red bottle and the bottle with ridged neck, together.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the blue-capped plastic bottle.",
+    "Use each arm to grab one of the shiny red bottle and the bottle with curved neck design.",
+    "Pick up both the bottle with white and yellow label and the blue-capped plastic bottle together.",
+    "Grab the bottle with white and yellow label and the bottle with curved neck design at the same time.",
+    "Grasp the shiny red bottle and the bottle with curved neck design simultaneously.",
+    "Lift the shiny red bottle as the other arm lifts the bottle with ridged neck.",
+    "Pick up the bottle with yellow Chinese characters and the bottle with curved neck design in parallel.",
+    "Lift the shiny red bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Take hold of the bottle with yellow Chinese characters and the bottle with ridged neck at once.",
+    "Raise both different bottles, the shiny red bottle and the bottle with curved neck design, together.",
+    "Use one arm for the bottle with white and yellow label and the other for the bottle with curved neck design.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the bottle with curved neck design.",
+    "Pick up both the bottle with white and yellow label and the blue-capped plastic bottle together.",
+    "Grab the bottle with white and yellow label and the blue-capped plastic bottle at the same time.",
+    "Grasp the bottle with white and yellow label and the bottle with curved neck design simultaneously.",
+    "Lift the bottle with white and yellow label as the other arm lifts the bottle with curved neck design.",
+    "Pick up the shiny red bottle and the bottle with curved neck design in parallel.",
+    "Lift the shiny red bottle and the bottle with ridged neck simultaneously with separate arms.",
+    "Take hold of the bottle with yellow Chinese characters and the bottle with curved neck design at once.",
+    "Raise both different bottles, the shiny red bottle and the blue-capped plastic bottle, together.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the bottle with ridged neck.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the bottle with curved neck design.",
+    "Pick up both the shiny red bottle and the blue-capped plastic bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000005.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b01e881716a9d757a6819ba0ef7e15c7719826d
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000005.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the bottle holding liquid as the other arm grasps the cylindrical orange plastic bottle.",
+    "Use both arms to grasp the plastic bottle and the curved orange soda bottle together.",
+    "Raise the bottle with white screw cap with one arm and the cylindrical orange plastic bottle with the other.",
+    "Each arm should grab one bottle: the hand-sized plastic bottle and the smooth orange bottle.",
+    "Assign one arm to the white-capped bottle and one to the orange drink bottle with label.",
+    "Pick the bottle with black label while the other arm picks the round-bottom bottle with white cap.",
+    "Grab both bottles in parallel, the plastic bottle and the orange bottle.",
+    "Raise the plastic bottle and the ridged orange bottle with grooves at the same time.",
+    "Hold both the small curved plastic bottle and the plastic bottle, one in each arm.",
+    "Use both arms simultaneously for the brown bottle and the medium bottle with colorful label.",
+    "Grasp the different bottles the plastic bottle and the curved orange soda bottle simultaneously.",
+    "Grab the plastic bottle and the round-bottom bottle with white cap at the same time.",
+    "Pick the bottle with black label and the smooth orange bottle up in parallel.",
+    "Simultaneously grasp and lift the curved bottle with white top and the orange bottle.",
+    "Use one arm for the plastic bottle and the other for the orange drink bottle with label.",
+    "Pick up both the brown bottle and the orange drink bottle with label using separate arms.",
+    "Use each arm to secure one of the brown bottle and the medium bottle with colorful label.",
+    "Take hold of the plastic bottle and the medium bottle with colorful label at once.",
+    "Lift both different bottles, the brown bottle and the plastic bottle, together.",
+    "Pick up the smooth brown and white patterned bottle and the ridged orange bottle with grooves simultaneously.",
+    "Take the curved bottle with white top and the orange bottle together, one per arm.",
+    "Raise both bottles at once: the brown bottle and the light and medium-sized bottle.",
+    "Lift the bottle with white screw cap and the bottle for holding drinks in one synchronized motion.",
+    "Lift the bottle with black label and the orange bottle together with both arms.",
+    "Reach for the white-capped bottle and the orange bottle with both arms at once.",
+    "Secure both the curved bottle with white top and the bottle for holding drinks simultaneously.",
+    "Use separate arms to lift the small curved plastic bottle and the orange drink bottle with label.",
+    "Pick up the pair the smooth brown and white patterned bottle and the bottle for holding drinks together.",
+    "Hold the hand-sized plastic bottle in one arm and the round-bottom bottle with white cap in the other.",
+    "Catch the smooth brown and white patterned bottle and the ridged orange bottle with grooves together.",
+    "Grasp the curved bottle with white top as the other arm grasps the plastic bottle.",
+    "Use both arms to grasp the bottle holding liquid and the medium bottle with colorful label together.",
+    "Raise the brown bottle with one arm and the medium bottle with colorful label with the other.",
+    "Each arm should grab one bottle: the plastic bottle and the bottle for holding drinks.",
+    "Assign one arm to the smooth brown and white patterned bottle and one to the round-bottom bottle with white cap.",
+    "Pick the plastic bottle while the other arm picks the orange drink bottle with label.",
+    "Grab both bottles in parallel, the small bottle with decorative design and the orange drink bottle with label.",
+    "Raise the small bottle with decorative design and the round-bottom bottle with white cap at the same time.",
+    "Hold both the bottle with white screw cap and the medium bottle with colorful label, one in each arm.",
+    "Use both arms simultaneously for the brown bottle and the curved orange soda bottle.",
+    "Grasp the different bottles the plastic bottle and the smooth orange bottle simultaneously.",
+    "Grab the curved bottle with white top and the plastic bottle at the same time.",
+    "Pick the bottle with brown and white patterns and the curved orange soda bottle up in parallel.",
+    "Simultaneously grasp and lift the bottle with white screw cap and the orange bottle.",
+    "Use one arm for the smooth brown and white patterned bottle and the other for the grooved orange drink bottle.",
+    "Pick up both the curved bottle with white top and the orange bottle using separate arms.",
+    "Use each arm to secure one of the plastic bottle and the ridged orange bottle with grooves.",
+    "Take hold of the bottle with white screw cap and the smooth orange bottle at once.",
+    "Lift both different bottles, the bottle with white screw cap and the curved orange soda bottle, together.",
+    "Pick up the hand-sized plastic bottle and the cylindrical orange plastic bottle simultaneously.",
+    "Take the plastic bottle and the ridged orange bottle with grooves together, one per arm.",
+    "Raise both bottles at once: the small curved plastic bottle and the ridged orange bottle with grooves.",
+    "Lift the smooth brown and white patterned bottle and the curved orange soda bottle in one synchronized motion.",
+    "Lift the curved bottle with white top and the orange bottle together with both arms.",
+    "Reach for the small curved plastic bottle and the plastic bottle with both arms at once.",
+    "Secure both the brown bottle and the plastic bottle simultaneously.",
+    "Use separate arms to lift the curved bottle with white top and the plastic bottle.",
+    "Pick up the pair the small curved plastic bottle and the cylindrical orange plastic bottle together.",
+    "Hold the small bottle with decorative design in one arm and the curved orange soda bottle in the other.",
+    "Catch the smooth brown and white patterned bottle and the orange drink bottle with label together.",
+    "Grasp the bottle holding liquid as the other arm grasps the medium bottle with colorful label.",
+    "Use both arms to grasp the bottle with white screw cap and the light and medium-sized bottle together.",
+    "Raise the small bottle with decorative design with one arm and the orange bottle with the other.",
+    "Each arm should grab one bottle: the hand-sized plastic bottle and the plastic bottle.",
+    "Assign one arm to the hand-sized plastic bottle and one to the smooth orange bottle.",
+    "Pick the curved bottle with white top while the other arm picks the bottle for holding drinks.",
+    "Grab both bottles in parallel, the white-capped bottle and the ridged orange bottle with grooves.",
+    "Raise the bottle with black label and the grooved orange drink bottle at the same time.",
+    "Hold both the bottle with white screw cap and the bottle for holding drinks, one in each arm.",
+    "Use both arms simultaneously for the small curved plastic bottle and the orange bottle.",
+    "Grasp the different bottles the white-capped bottle and the curved orange soda bottle simultaneously.",
+    "Grab the white-capped bottle and the bottle for holding drinks at the same time.",
+    "Pick the small bottle with decorative design and the cylindrical orange plastic bottle up in parallel.",
+    "Simultaneously grasp and lift the hand-sized plastic bottle and the ridged orange bottle with grooves.",
+    "Use one arm for the bottle with brown and white patterns and the other for the ridged orange bottle with grooves.",
+    "Pick up both the bottle with black label and the bottle for holding drinks using separate arms.",
+    "Use each arm to secure one of the bottle with brown and white patterns and the light and medium-sized bottle.",
+    "Take hold of the bottle holding liquid and the ridged orange bottle with grooves at once.",
+    "Lift both different bottles, the small curved plastic bottle and the bottle for holding drinks, together.",
+    "Pick up the plastic bottle and the orange bottle simultaneously.",
+    "Take the bottle holding liquid and the orange drink bottle with label together, one per arm.",
+    "Raise both bottles at once: the curved bottle with white top and the grooved orange drink bottle.",
+    "Lift the curved bottle with white top and the orange drink bottle with label in one synchronized motion.",
+    "Lift the brown bottle and the orange bottle together with both arms.",
+    "Reach for the bottle with white screw cap and the orange drink bottle with label with both arms at once.",
+    "Secure both the curved bottle with white top and the orange drink bottle with label simultaneously.",
+    "Use separate arms to lift the smooth brown and white patterned bottle and the smooth orange bottle.",
+    "Pick up the pair the bottle with brown and white patterns and the light and medium-sized bottle together.",
+    "Hold the white-capped bottle in one arm and the light and medium-sized bottle in the other.",
+    "Catch the bottle with black label and the grooved orange drink bottle together.",
+    "Grasp the white-capped bottle as the other arm grasps the medium bottle with colorful label.",
+    "Use both arms to grasp the small bottle with decorative design and the grooved orange drink bottle together.",
+    "Raise the bottle with black label with one arm and the ridged orange bottle with grooves with the other.",
+    "Each arm should grab one bottle: the small bottle with decorative design and the curved orange soda bottle.",
+    "Assign one arm to the hand-sized plastic bottle and one to the medium bottle with colorful label.",
+    "Pick the white-capped bottle while the other arm picks the ridged orange bottle with grooves.",
+    "Grab both bottles in parallel, the hand-sized plastic bottle and the light and medium-sized bottle.",
+    "Raise the bottle with white screw cap and the cylindrical orange plastic bottle at the same time.",
+    "Hold both the bottle with black label and the orange bottle, one in each arm.",
+    "Use both arms simultaneously for the small curved plastic bottle and the light and medium-sized bottle."
+  ],
+  "unseen": [
+    "Grab the brown bottle with glossy swirls and the bottle with white cap at the same time.",
+    "Grasp the brown bottle with glossy swirls and the bottle with ridged orange grip simultaneously.",
+    "Lift the cylindrical bottle with curved sides and the bottle with white cap simultaneously with separate arms.",
+    "Pick up the brown bottle with glossy swirls and the bottle with ridged orange grip in parallel.",
+    "Raise both different bottles, the glossy brown bottle and the white capped orange plastic bottle, together.",
+    "Pick up both the brown bottle with glossy swirls and the white capped orange plastic bottle together.",
+    "Lift the glossy brown bottle as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the cylindrical bottle with curved sides and the white capped orange plastic bottle.",
+    "Use one arm for the cylindrical bottle with curved sides and the other for the white capped orange plastic bottle.",
+    "Take hold of the glossy brown bottle and the bottle with ridged orange grip at once.",
+    "Grab the glossy brown bottle and the bottle with ridged orange grip at the same time.",
+    "Grasp the brown bottle with glossy swirls and the bottle with white cap simultaneously.",
+    "Lift the brown bottle with glossy swirls and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Pick up the glossy brown bottle and the bottle with white cap in parallel.",
+    "Raise both different bottles, the brown bottle with glossy swirls and the bottle with white cap, together.",
+    "Pick up both the glossy brown bottle and the bottle with white cap together.",
+    "Lift the glossy brown bottle as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the glossy brown bottle and the white capped orange plastic bottle.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the bottle with ridged orange grip.",
+    "Take hold of the glossy brown bottle and the white capped orange plastic bottle at once.",
+    "Grab the cylindrical bottle with curved sides and the white capped orange plastic bottle at the same time.",
+    "Grasp the brown bottle with glossy swirls and the white capped orange plastic bottle simultaneously.",
+    "Lift the glossy brown bottle and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Pick up the glossy brown bottle and the bottle with ridged orange grip in parallel.",
+    "Raise both different bottles, the glossy brown bottle and the bottle with ridged orange grip, together.",
+    "Pick up both the cylindrical bottle with curved sides and the bottle with ridged orange grip together.",
+    "Lift the glossy brown bottle as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the glossy brown bottle and the bottle with white cap.",
+    "Use one arm for the glossy brown bottle and the other for the bottle with ridged orange grip.",
+    "Take hold of the glossy brown bottle and the bottle with white cap at once.",
+    "Grab the brown bottle with glossy swirls and the white capped orange plastic bottle at the same time.",
+    "Grasp the cylindrical bottle with curved sides and the white capped orange plastic bottle simultaneously.",
+    "Lift the glossy brown bottle and the bottle with white cap simultaneously with separate arms.",
+    "Pick up the brown bottle with glossy swirls and the bottle with white cap in parallel.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the bottle with white cap, together.",
+    "Pick up both the glossy brown bottle and the bottle with white cap together.",
+    "Lift the cylindrical bottle with curved sides as the other arm lifts the bottle with ridged orange grip.",
+    "Use each arm to grab one of the brown bottle with glossy swirls and the bottle with white cap.",
+    "Use one arm for the cylindrical bottle with curved sides and the other for the bottle with ridged orange grip.",
+    "Take hold of the brown bottle with glossy swirls and the bottle with ridged orange grip at once.",
+    "Grab the cylindrical bottle with curved sides and the white capped orange plastic bottle at the same time.",
+    "Grasp the cylindrical bottle with curved sides and the bottle with ridged orange grip simultaneously.",
+    "Lift the brown bottle with glossy swirls and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Pick up the brown bottle with glossy swirls and the bottle with white cap in parallel.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the bottle with ridged orange grip, together.",
+    "Pick up both the glossy brown bottle and the bottle with white cap together.",
+    "Lift the cylindrical bottle with curved sides as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the cylindrical bottle with curved sides and the bottle with ridged orange grip.",
+    "Use one arm for the glossy brown bottle and the other for the bottle with ridged orange grip.",
+    "Take hold of the brown bottle with glossy swirls and the bottle with ridged orange grip at once.",
+    "Grab the glossy brown bottle and the bottle with white cap at the same time.",
+    "Grasp the brown bottle with glossy swirls and the bottle with white cap simultaneously.",
+    "Lift the cylindrical bottle with curved sides and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Pick up the brown bottle with glossy swirls and the bottle with white cap in parallel.",
+    "Raise both different bottles, the brown bottle with glossy swirls and the bottle with ridged orange grip, together.",
+    "Pick up both the cylindrical bottle with curved sides and the bottle with ridged orange grip together.",
+    "Lift the brown bottle with glossy swirls as the other arm lifts the bottle with ridged orange grip.",
+    "Use each arm to grab one of the brown bottle with glossy swirls and the bottle with ridged orange grip.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the bottle with ridged orange grip.",
+    "Take hold of the glossy brown bottle and the white capped orange plastic bottle at once.",
+    "Grab the glossy brown bottle and the white capped orange plastic bottle at the same time.",
+    "Grasp the glossy brown bottle and the white capped orange plastic bottle simultaneously.",
+    "Lift the cylindrical bottle with curved sides and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Pick up the glossy brown bottle and the bottle with white cap in parallel.",
+    "Raise both different bottles, the glossy brown bottle and the bottle with ridged orange grip, together.",
+    "Pick up both the cylindrical bottle with curved sides and the white capped orange plastic bottle together.",
+    "Lift the glossy brown bottle as the other arm lifts the bottle with white cap.",
+    "Use each arm to grab one of the glossy brown bottle and the bottle with white cap.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the white capped orange plastic bottle.",
+    "Take hold of the brown bottle with glossy swirls and the white capped orange plastic bottle at once.",
+    "Grab the glossy brown bottle and the white capped orange plastic bottle at the same time.",
+    "Grasp the brown bottle with glossy swirls and the white capped orange plastic bottle simultaneously.",
+    "Lift the glossy brown bottle and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Pick up the brown bottle with glossy swirls and the bottle with ridged orange grip in parallel.",
+    "Raise both different bottles, the brown bottle with glossy swirls and the white capped orange plastic bottle, together.",
+    "Pick up both the cylindrical bottle with curved sides and the white capped orange plastic bottle together.",
+    "Lift the brown bottle with glossy swirls as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the brown bottle with glossy swirls and the bottle with white cap.",
+    "Use one arm for the glossy brown bottle and the other for the bottle with white cap.",
+    "Take hold of the cylindrical bottle with curved sides and the bottle with white cap at once.",
+    "Grab the glossy brown bottle and the white capped orange plastic bottle at the same time.",
+    "Grasp the glossy brown bottle and the white capped orange plastic bottle simultaneously.",
+    "Lift the cylindrical bottle with curved sides and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with white cap in parallel.",
+    "Raise both different bottles, the glossy brown bottle and the bottle with ridged orange grip, together.",
+    "Pick up both the brown bottle with glossy swirls and the bottle with ridged orange grip together.",
+    "Lift the glossy brown bottle as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the brown bottle with glossy swirls and the bottle with white cap.",
+    "Use one arm for the glossy brown bottle and the other for the bottle with ridged orange grip.",
+    "Take hold of the glossy brown bottle and the white capped orange plastic bottle at once.",
+    "Grab the glossy brown bottle and the white capped orange plastic bottle at the same time.",
+    "Grasp the cylindrical bottle with curved sides and the bottle with white cap simultaneously.",
+    "Lift the glossy brown bottle and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Pick up the glossy brown bottle and the bottle with ridged orange grip in parallel.",
+    "Raise both different bottles, the brown bottle with glossy swirls and the bottle with ridged orange grip, together.",
+    "Pick up both the brown bottle with glossy swirls and the bottle with ridged orange grip together.",
+    "Lift the cylindrical bottle with curved sides as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the cylindrical bottle with curved sides and the bottle with white cap.",
+    "Use one arm for the cylindrical bottle with curved sides and the other for the white capped orange plastic bottle.",
+    "Take hold of the brown bottle with glossy swirls and the white capped orange plastic bottle at once."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000006.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..6735b699ffb935a2cd7c761d9f9c06b5ba74472b
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000006.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic bottle and the curved orange soda bottle together with both arms.",
+    "Use each arm to secure one of the bottle with glossy plastic finish and the orange bottle.",
+    "Lift both different bottles, the green bottle and the bottle for holding drinks, together.",
+    "Use both arms simultaneously for the green bottle with black text label and the curved orange soda bottle.",
+    "Pick up the bottle with yellow cap and the bottle for holding drinks simultaneously.",
+    "Hold the medium bottle with green body in one arm and the round-bottom bottle with white cap in the other.",
+    "Assign one arm to the green bottle and one to the orange drink bottle with label.",
+    "Lift the green bottle and the light and medium-sized bottle in one synchronized motion.",
+    "Raise both bottles at once: the bottle with yellow cap and the plastic bottle.",
+    "Grasp the different bottles the cylindrical bottle with rounded cap and the grooved orange drink bottle simultaneously.",
+    "Grasp the handheld plastic bottle as the other arm grasps the bottle for holding drinks.",
+    "Hold both the plastic bottle and the orange bottle, one in each arm.",
+    "Take hold of the handheld plastic bottle and the orange bottle at once.",
+    "Pick the medium bottle with green body and the grooved orange drink bottle up in parallel.",
+    "Grab both bottles in parallel, the bottle with glossy plastic finish and the medium bottle with colorful label.",
+    "Secure both the green bottle with white label and the round-bottom bottle with white cap simultaneously.",
+    "Simultaneously grasp and lift the bottle with glossy plastic finish and the light and medium-sized bottle.",
+    "Pick up both the smooth green and yellow bottle and the ridged orange bottle with grooves using separate arms.",
+    "Use both arms to grasp the plastic bottle with colored label and the orange drink bottle with label together.",
+    "Pick up the pair the plastic bottle with colored label and the round-bottom bottle with white cap together.",
+    "Catch the green bottle with white label and the smooth orange bottle together.",
+    "Use separate arms to lift the plastic bottle with colored label and the round-bottom bottle with white cap.",
+    "Reach for the medium bottle with green body and the smooth orange bottle with both arms at once.",
+    "Raise the green bottle with white label with one arm and the cylindrical orange plastic bottle with the other.",
+    "Use one arm for the cylindrical liquid bottle with yellow top and the other for the bottle for holding drinks.",
+    "Pick the green bottle with black text label while the other arm picks the orange bottle.",
+    "Raise the plastic bottle and the light and medium-sized bottle at the same time.",
+    "Take the bottle with yellow cap and the smooth orange bottle together, one per arm.",
+    "Each arm should grab one bottle: the medium bottle with green body and the curved orange soda bottle.",
+    "Grab the medium bottle with green body and the bottle for holding drinks at the same time.",
+    "Lift the medium bottle with green body and the round-bottom bottle with white cap together with both arms.",
+    "Use each arm to secure one of the medium bottle with green body and the orange bottle.",
+    "Lift both different bottles, the cylindrical liquid bottle with yellow top and the ridged orange bottle with grooves, together.",
+    "Use both arms simultaneously for the cylindrical liquid bottle with yellow top and the cylindrical orange plastic bottle.",
+    "Pick up the bottle with yellow cap and the orange bottle simultaneously.",
+    "Hold the smooth green and yellow bottle in one arm and the bottle for holding drinks in the other.",
+    "Assign one arm to the medium bottle with green body and one to the smooth orange bottle.",
+    "Lift the green bottle with white label and the ridged orange bottle with grooves in one synchronized motion.",
+    "Raise both bottles at once: the green bottle with white label and the medium bottle with colorful label.",
+    "Grasp the different bottles the handheld plastic bottle and the ridged orange bottle with grooves simultaneously.",
+    "Grasp the bottle with glossy plastic finish as the other arm grasps the cylindrical orange plastic bottle.",
+    "Hold both the cylindrical liquid bottle with yellow top and the smooth orange bottle, one in each arm.",
+    "Take hold of the plastic bottle and the plastic bottle at once.",
+    "Pick the medium bottle with green body and the orange bottle up in parallel.",
+    "Grab both bottles in parallel, the green bottle and the grooved orange drink bottle.",
+    "Secure both the cylindrical bottle with rounded cap and the light and medium-sized bottle simultaneously.",
+    "Simultaneously grasp and lift the bottle with yellow cap and the grooved orange drink bottle.",
+    "Pick up both the green bottle with black text label and the orange drink bottle with label using separate arms.",
+    "Use both arms to grasp the bottle with glossy plastic finish and the ridged orange bottle with grooves together.",
+    "Pick up the pair the cylindrical bottle with rounded cap and the ridged orange bottle with grooves together.",
+    "Catch the smooth green and yellow bottle and the ridged orange bottle with grooves together.",
+    "Use separate arms to lift the bottle with glossy plastic finish and the ridged orange bottle with grooves.",
+    "Reach for the bottle with yellow cap and the curved orange soda bottle with both arms at once.",
+    "Raise the bottle with glossy plastic finish with one arm and the curved orange soda bottle with the other.",
+    "Use one arm for the green bottle with white label and the other for the plastic bottle.",
+    "Pick the handheld plastic bottle while the other arm picks the medium bottle with colorful label.",
+    "Raise the medium bottle with green body and the cylindrical orange plastic bottle at the same time.",
+    "Take the green bottle with white label and the cylindrical orange plastic bottle together, one per arm.",
+    "Each arm should grab one bottle: the medium bottle with green body and the orange drink bottle with label.",
+    "Grab the plastic bottle and the orange bottle at the same time.",
+    "Lift the plastic bottle with colored label and the medium bottle with colorful label together with both arms.",
+    "Use each arm to secure one of the green bottle with white label and the medium bottle with colorful label.",
+    "Lift both different bottles, the plastic bottle and the bottle for holding drinks, together.",
+    "Use both arms simultaneously for the green bottle with white label and the round-bottom bottle with white cap.",
+    "Pick up the smooth green and yellow bottle and the bottle for holding drinks simultaneously.",
+    "Hold the handheld plastic bottle in one arm and the curved orange soda bottle in the other.",
+    "Assign one arm to the smooth green and yellow bottle and one to the cylindrical orange plastic bottle.",
+    "Lift the medium bottle with green body and the orange drink bottle with label in one synchronized motion.",
+    "Raise both bottles at once: the medium bottle with green body and the round-bottom bottle with white cap.",
+    "Grasp the different bottles the green bottle with black text label and the medium bottle with colorful label simultaneously.",
+    "Grasp the medium bottle with green body as the other arm grasps the curved orange soda bottle.",
+    "Hold both the green bottle and the bottle for holding drinks, one in each arm.",
+    "Take hold of the plastic bottle with colored label and the medium bottle with colorful label at once.",
+    "Pick the bottle with yellow cap and the cylindrical orange plastic bottle up in parallel.",
+    "Grab both bottles in parallel, the cylindrical bottle with rounded cap and the cylindrical orange plastic bottle.",
+    "Secure both the green bottle with white label and the bottle for holding drinks simultaneously.",
+    "Simultaneously grasp and lift the smooth green and yellow bottle and the ridged orange bottle with grooves.",
+    "Pick up both the smooth green and yellow bottle and the medium bottle with colorful label using separate arms.",
+    "Use both arms to grasp the plastic bottle with colored label and the medium bottle with colorful label together.",
+    "Pick up the pair the plastic bottle with colored label and the cylindrical orange plastic bottle together.",
+    "Catch the plastic bottle with colored label and the bottle for holding drinks together.",
+    "Use separate arms to lift the green bottle with white label and the bottle for holding drinks.",
+    "Reach for the smooth green and yellow bottle and the orange bottle with both arms at once.",
+    "Raise the green bottle with black text label with one arm and the light and medium-sized bottle with the other.",
+    "Use one arm for the medium bottle with green body and the other for the grooved orange drink bottle.",
+    "Pick the bottle with glossy plastic finish while the other arm picks the plastic bottle.",
+    "Raise the cylindrical bottle with rounded cap and the orange bottle at the same time.",
+    "Take the cylindrical liquid bottle with yellow top and the ridged orange bottle with grooves together, one per arm.",
+    "Each arm should grab one bottle: the handheld plastic bottle and the bottle for holding drinks.",
+    "Grab the bottle with glossy plastic finish and the ridged orange bottle with grooves at the same time.",
+    "Lift the smooth green and yellow bottle and the medium bottle with colorful label together with both arms.",
+    "Use each arm to secure one of the green bottle with black text label and the bottle for holding drinks.",
+    "Lift both different bottles, the plastic bottle with colored label and the round-bottom bottle with white cap, together.",
+    "Use both arms simultaneously for the smooth green and yellow bottle and the ridged orange bottle with grooves.",
+    "Pick up the cylindrical liquid bottle with yellow top and the plastic bottle simultaneously.",
+    "Hold the medium bottle with green body in one arm and the orange bottle in the other.",
+    "Assign one arm to the cylindrical liquid bottle with yellow top and one to the grooved orange drink bottle.",
+    "Lift the green bottle and the orange drink bottle with label in one synchronized motion.",
+    "Raise both bottles at once: the medium bottle with green body and the plastic bottle.",
+    "Grasp the different bottles the green bottle with white label and the orange bottle simultaneously."
+  ],
+  "unseen": [
+    "Raise both different bottles, the bottle with green base and black prints and the bottle with ridged orange grip, together.",
+    "Lift the bottle with green base and black prints and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Grasp the bottle with green base and black prints and the white capped orange plastic bottle simultaneously.",
+    "Lift the bottle with green base and black prints as the other arm lifts the bottle with white cap.",
+    "Use each arm to grab one of the bottle with green base and black prints and the bottle with ridged orange grip.",
+    "Take hold of the bottle with green base and black prints and the bottle with white cap at once.",
+    "Grab the yellow-capped bottle with smooth surface and the bottle with white cap at the same time.",
+    "Use one arm for the bottle with green base and black prints and the other for the white capped orange plastic bottle.",
+    "Pick up the bottle with green base and black prints and the bottle with white cap in parallel.",
+    "Pick up both the yellow-capped bottle with smooth surface and the bottle with white cap together.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the bottle with white cap, together.",
+    "Lift the yellow-capped bottle with smooth surface and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Grasp the bottle with green base and black prints and the bottle with white cap simultaneously.",
+    "Lift the bottle with green base and black prints as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the bottle with green base and black prints and the bottle with white cap.",
+    "Take hold of the yellow-capped bottle with smooth surface and the bottle with white cap at once.",
+    "Grab the bottle with green base and black prints and the bottle with ridged orange grip at the same time.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the bottle with white cap.",
+    "Pick up the medium-sized drink bottle and the bottle with white cap in parallel.",
+    "Pick up both the medium-sized drink bottle and the bottle with ridged orange grip together.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the bottle with ridged orange grip, together.",
+    "Lift the medium-sized drink bottle and the bottle with white cap simultaneously with separate arms.",
+    "Grasp the medium-sized drink bottle and the white capped orange plastic bottle simultaneously.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the bottle with ridged orange grip.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the white capped orange plastic bottle.",
+    "Take hold of the medium-sized drink bottle and the white capped orange plastic bottle at once.",
+    "Grab the yellow-capped bottle with smooth surface and the bottle with ridged orange grip at the same time.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the bottle with white cap.",
+    "Pick up the bottle with green base and black prints and the white capped orange plastic bottle in parallel.",
+    "Pick up both the medium-sized drink bottle and the white capped orange plastic bottle together.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the white capped orange plastic bottle, together.",
+    "Lift the bottle with green base and black prints and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Grasp the yellow-capped bottle with smooth surface and the white capped orange plastic bottle simultaneously.",
+    "Lift the bottle with green base and black prints as the other arm lifts the bottle with white cap.",
+    "Use each arm to grab one of the medium-sized drink bottle and the white capped orange plastic bottle.",
+    "Take hold of the bottle with green base and black prints and the bottle with white cap at once.",
+    "Grab the yellow-capped bottle with smooth surface and the bottle with white cap at the same time.",
+    "Use one arm for the bottle with green base and black prints and the other for the white capped orange plastic bottle.",
+    "Pick up the yellow-capped bottle with smooth surface and the bottle with white cap in parallel.",
+    "Pick up both the yellow-capped bottle with smooth surface and the bottle with ridged orange grip together.",
+    "Raise both different bottles, the bottle with green base and black prints and the bottle with white cap, together.",
+    "Lift the medium-sized drink bottle and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Grasp the yellow-capped bottle with smooth surface and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with green base and black prints as the other arm lifts the bottle with ridged orange grip.",
+    "Use each arm to grab one of the bottle with green base and black prints and the bottle with white cap.",
+    "Take hold of the yellow-capped bottle with smooth surface and the bottle with white cap at once.",
+    "Grab the bottle with green base and black prints and the white capped orange plastic bottle at the same time.",
+    "Use one arm for the medium-sized drink bottle and the other for the bottle with white cap.",
+    "Pick up the yellow-capped bottle with smooth surface and the bottle with white cap in parallel.",
+    "Pick up both the bottle with green base and black prints and the bottle with ridged orange grip together.",
+    "Raise both different bottles, the bottle with green base and black prints and the bottle with ridged orange grip, together.",
+    "Lift the medium-sized drink bottle and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Grasp the yellow-capped bottle with smooth surface and the white capped orange plastic bottle simultaneously.",
+    "Lift the medium-sized drink bottle as the other arm lifts the bottle with ridged orange grip.",
+    "Use each arm to grab one of the bottle with green base and black prints and the bottle with ridged orange grip.",
+    "Take hold of the bottle with green base and black prints and the white capped orange plastic bottle at once.",
+    "Grab the yellow-capped bottle with smooth surface and the white capped orange plastic bottle at the same time.",
+    "Use one arm for the medium-sized drink bottle and the other for the bottle with ridged orange grip.",
+    "Pick up the medium-sized drink bottle and the white capped orange plastic bottle in parallel.",
+    "Pick up both the yellow-capped bottle with smooth surface and the bottle with ridged orange grip together.",
+    "Raise both different bottles, the medium-sized drink bottle and the white capped orange plastic bottle, together.",
+    "Lift the medium-sized drink bottle and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Grasp the medium-sized drink bottle and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with green base and black prints as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the white capped orange plastic bottle.",
+    "Take hold of the yellow-capped bottle with smooth surface and the white capped orange plastic bottle at once.",
+    "Grab the medium-sized drink bottle and the white capped orange plastic bottle at the same time.",
+    "Use one arm for the bottle with green base and black prints and the other for the white capped orange plastic bottle.",
+    "Pick up the bottle with green base and black prints and the bottle with ridged orange grip in parallel.",
+    "Pick up both the medium-sized drink bottle and the white capped orange plastic bottle together.",
+    "Raise both different bottles, the medium-sized drink bottle and the white capped orange plastic bottle, together.",
+    "Lift the bottle with green base and black prints and the bottle with white cap simultaneously with separate arms.",
+    "Grasp the yellow-capped bottle with smooth surface and the white capped orange plastic bottle simultaneously.",
+    "Lift the medium-sized drink bottle as the other arm lifts the bottle with ridged orange grip.",
+    "Use each arm to grab one of the bottle with green base and black prints and the bottle with white cap.",
+    "Take hold of the yellow-capped bottle with smooth surface and the white capped orange plastic bottle at once.",
+    "Grab the bottle with green base and black prints and the bottle with white cap at the same time.",
+    "Use one arm for the bottle with green base and black prints and the other for the white capped orange plastic bottle.",
+    "Pick up the medium-sized drink bottle and the bottle with ridged orange grip in parallel.",
+    "Pick up both the medium-sized drink bottle and the bottle with white cap together.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the white capped orange plastic bottle, together.",
+    "Lift the yellow-capped bottle with smooth surface and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Grasp the yellow-capped bottle with smooth surface and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with green base and black prints as the other arm lifts the bottle with ridged orange grip.",
+    "Use each arm to grab one of the bottle with green base and black prints and the bottle with white cap.",
+    "Take hold of the medium-sized drink bottle and the bottle with ridged orange grip at once.",
+    "Grab the yellow-capped bottle with smooth surface and the bottle with ridged orange grip at the same time.",
+    "Use one arm for the bottle with green base and black prints and the other for the white capped orange plastic bottle.",
+    "Pick up the yellow-capped bottle with smooth surface and the bottle with ridged orange grip in parallel.",
+    "Pick up both the yellow-capped bottle with smooth surface and the bottle with ridged orange grip together.",
+    "Raise both different bottles, the bottle with green base and black prints and the bottle with ridged orange grip, together.",
+    "Lift the medium-sized drink bottle and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Grasp the yellow-capped bottle with smooth surface and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with green base and black prints as the other arm lifts the bottle with white cap.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the white capped orange plastic bottle.",
+    "Take hold of the medium-sized drink bottle and the bottle with white cap at once.",
+    "Grab the medium-sized drink bottle and the bottle with ridged orange grip at the same time.",
+    "Use one arm for the bottle with green base and black prints and the other for the bottle with ridged orange grip.",
+    "Pick up the yellow-capped bottle with smooth surface and the white capped orange plastic bottle in parallel.",
+    "Pick up both the bottle with green base and black prints and the bottle with ridged orange grip together."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000007.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..e27cebcd9cebc66255d9ba765b484766d4994d4b
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000007.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium bottle with yellow cap and the smooth red cylindrical bottle simultaneously.",
+    "Reach for the bottle with blue and yellow print and the plastic bottle with bright red color with both arms at once.",
+    "Hold the plastic bottle with colorful label in one arm and the handheld plastic bottle in the other.",
+    "Grab both bottles in parallel, the beverage bottle with black body and the medium-size plastic bottle.",
+    "Grasp the yellow capped drink bottle as the other arm grasps the red bottle.",
+    "Take hold of the black cylindrical bottle with ridges and the smooth red cylindrical bottle at once.",
+    "Raise the medium black bottle with printed label and the plastic bottle with bright red color at the same time.",
+    "Pick the black cylindrical bottle with ridges and the smooth red cylindrical bottle up in parallel.",
+    "Pick the black plastic bottle with Pepsi logo while the other arm picks the plastic bottle.",
+    "Grasp the different bottles the black plastic bottle with Pepsi logo and the red bottle with narrow neck simultaneously.",
+    "Raise the yellow-capped cylindrical bottle with one arm and the medium-size plastic bottle with the other.",
+    "Each arm should grab one bottle: the bottle with blue and yellow print and the handheld plastic bottle.",
+    "Use both arms to grasp the medium bottle with yellow cap and the red bottle with curved grooves together.",
+    "Use each arm to secure one of the bottle with blue and yellow print and the red bottle with screw cap.",
+    "Grab the bottle with blue and yellow print and the bottle with red cap at the same time.",
+    "Hold both the yellow-capped cylindrical bottle and the plastic bottle, one in each arm.",
+    "Raise both bottles at once: the medium bottle with yellow cap and the plastic bottle.",
+    "Use both arms simultaneously for the black cylindrical bottle with ridges and the yellow text bottle.",
+    "Secure both the medium bottle with yellow cap and the medium-size plastic bottle simultaneously.",
+    "Pick up the pair the black cylindrical bottle with ridges and the medium-size plastic bottle together.",
+    "Use one arm for the plastic bottle with colorful label and the other for the red bottle with narrow neck.",
+    "Pick up both the yellow capped drink bottle and the red bottle with curved grooves using separate arms.",
+    "Take the yellow-capped cylindrical bottle and the bottle with red cap together, one per arm.",
+    "Lift both different bottles, the smooth black bottle with ridges and the red bottle with narrow neck, together.",
+    "Catch the beverage bottle with black body and the medium-size plastic bottle together.",
+    "Simultaneously grasp and lift the medium black bottle with printed label and the handheld plastic bottle.",
+    "Lift the yellow-capped cylindrical bottle and the bottle with red cap together with both arms.",
+    "Assign one arm to the medium bottle with yellow cap and one to the handheld plastic bottle.",
+    "Lift the medium black bottle with printed label and the plastic bottle with bright red color in one synchronized motion.",
+    "Use separate arms to lift the smooth black bottle with ridges and the handheld plastic bottle.",
+    "Pick up the smooth black bottle with ridges and the yellow text bottle simultaneously.",
+    "Reach for the yellow capped drink bottle and the bottle with red cap with both arms at once.",
+    "Hold the drink bottle with rounded yellow lid in one arm and the red bottle with white bottom text in the other.",
+    "Grab both bottles in parallel, the medium black bottle with printed label and the plastic bottle with bright red color.",
+    "Grasp the bottle with blue and yellow print as the other arm grasps the bottle with red cap.",
+    "Take hold of the black plastic bottle with Pepsi logo and the yellow text bottle at once.",
+    "Raise the black cylindrical bottle with ridges and the medium-size plastic bottle at the same time.",
+    "Pick the black plastic bottle with Pepsi logo and the red bottle with white bottom text up in parallel.",
+    "Pick the black bottle while the other arm picks the red bottle with white bottom text.",
+    "Grasp the different bottles the black cylindrical bottle with ridges and the handheld plastic bottle simultaneously.",
+    "Raise the medium black bottle with printed label with one arm and the bottle with red cap with the other.",
+    "Each arm should grab one bottle: the black cylindrical bottle with ridges and the red bottle.",
+    "Use both arms to grasp the bottle with blue and yellow print and the red bottle with narrow neck together.",
+    "Use each arm to secure one of the black plastic bottle with Pepsi logo and the medium-size plastic bottle.",
+    "Grab the drink bottle with rounded yellow lid and the red bottle at the same time.",
+    "Hold both the plastic bottle with colorful label and the smooth red cylindrical bottle, one in each arm.",
+    "Raise both bottles at once: the medium bottle with yellow cap and the plastic bottle.",
+    "Use both arms simultaneously for the yellow-capped cylindrical bottle and the medium-size plastic bottle.",
+    "Secure both the black cylindrical bottle with ridges and the plastic bottle simultaneously.",
+    "Pick up the pair the yellow capped drink bottle and the plastic bottle together.",
+    "Use one arm for the beverage bottle with black body and the other for the red bottle with white bottom text.",
+    "Pick up both the medium black bottle with printed label and the plastic bottle using separate arms.",
+    "Take the bottle with blue and yellow print and the plastic bottle together, one per arm.",
+    "Lift both different bottles, the beverage bottle with black body and the red bottle with narrow neck, together.",
+    "Catch the yellow-capped cylindrical bottle and the red bottle together.",
+    "Simultaneously grasp and lift the medium black bottle with printed label and the red bottle with narrow neck.",
+    "Lift the bottle with blue and yellow print and the yellow text bottle together with both arms.",
+    "Assign one arm to the smooth black bottle with ridges and one to the red bottle with screw cap.",
+    "Lift the smooth black bottle with ridges and the plastic bottle in one synchronized motion.",
+    "Use separate arms to lift the medium black bottle with printed label and the red bottle with curved grooves.",
+    "Pick up the plastic bottle with colorful label and the medium-size plastic bottle simultaneously.",
+    "Reach for the black plastic bottle with Pepsi logo and the smooth red cylindrical bottle with both arms at once.",
+    "Hold the beverage bottle with black body in one arm and the smooth red cylindrical bottle in the other.",
+    "Grab both bottles in parallel, the drink bottle with rounded yellow lid and the medium-size plastic bottle.",
+    "Grasp the bottle with blue and yellow print as the other arm grasps the red bottle with screw cap.",
+    "Take hold of the beverage bottle with black body and the plastic bottle with bright red color at once.",
+    "Raise the beverage bottle with black body and the bottle with red cap at the same time.",
+    "Pick the beverage bottle with black body and the red bottle with screw cap up in parallel.",
+    "Pick the black bottle while the other arm picks the yellow text bottle.",
+    "Grasp the different bottles the black cylindrical bottle with ridges and the red bottle with screw cap simultaneously.",
+    "Raise the yellow capped drink bottle with one arm and the red bottle with screw cap with the other.",
+    "Each arm should grab one bottle: the black cylindrical bottle with ridges and the bottle with red cap.",
+    "Use both arms to grasp the bottle with blue and yellow print and the medium-size plastic bottle together.",
+    "Use each arm to secure one of the medium black bottle with printed label and the plastic bottle.",
+    "Grab the black bottle and the red bottle with screw cap at the same time.",
+    "Hold both the black bottle and the handheld plastic bottle, one in each arm.",
+    "Raise both bottles at once: the yellow capped drink bottle and the smooth red cylindrical bottle.",
+    "Use both arms simultaneously for the drink bottle with rounded yellow lid and the red bottle with white bottom text.",
+    "Secure both the medium black bottle with printed label and the red bottle with white bottom text simultaneously.",
+    "Pick up the pair the medium black bottle with printed label and the medium-size plastic bottle together.",
+    "Use one arm for the black plastic bottle with Pepsi logo and the other for the plastic bottle with bright red color.",
+    "Pick up both the black cylindrical bottle with ridges and the red bottle with screw cap using separate arms.",
+    "Take the yellow-capped cylindrical bottle and the red bottle together, one per arm.",
+    "Lift both different bottles, the drink bottle with rounded yellow lid and the red bottle with white bottom text, together.",
+    "Catch the yellow capped drink bottle and the red bottle with white bottom text together.",
+    "Simultaneously grasp and lift the drink bottle with rounded yellow lid and the red bottle with curved grooves.",
+    "Lift the medium bottle with yellow cap and the red bottle together with both arms.",
+    "Assign one arm to the black cylindrical bottle with ridges and one to the yellow text bottle.",
+    "Lift the medium bottle with yellow cap and the bottle with red cap in one synchronized motion.",
+    "Use separate arms to lift the yellow capped drink bottle and the red bottle with narrow neck.",
+    "Pick up the black bottle and the red bottle with narrow neck simultaneously.",
+    "Reach for the medium bottle with yellow cap and the red bottle with both arms at once.",
+    "Hold the black cylindrical bottle with ridges in one arm and the medium-size plastic bottle in the other.",
+    "Grab both bottles in parallel, the yellow capped drink bottle and the red bottle with white bottom text.",
+    "Grasp the black cylindrical bottle with ridges as the other arm grasps the plastic bottle with bright red color.",
+    "Take hold of the yellow-capped cylindrical bottle and the yellow text bottle at once.",
+    "Raise the black cylindrical bottle with ridges and the yellow text bottle at the same time.",
+    "Pick the plastic bottle with colorful label and the red bottle with screw cap up in parallel.",
+    "Pick the black cylindrical bottle with ridges while the other arm picks the handheld plastic bottle.",
+    "Grasp the different bottles the black bottle and the red bottle with white bottom text simultaneously."
+  ],
+  "unseen": [
+    "Lift the plastic bottle with blue label as the other arm lifts the shiny red bottle.",
+    "Grab the hand-sized bottle with ridged bottom and the shiny red bottle at the same time.",
+    "Take hold of the plastic bottle with blue label and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the bottle with yellow Chinese characters.",
+    "Pick up the bottle with ridges near base and the bottle with yellow Chinese characters in parallel.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Grasp the plastic bottle with blue label and the shiny red bottle simultaneously.",
+    "Pick up both the bottle with ridges near base and the bottle with yellow Chinese characters together.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the bottle with white and yellow label.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the shiny red bottle, together.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with white and yellow label.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters at the same time.",
+    "Take hold of the bottle with ridges near base and the bottle with white and yellow label at once.",
+    "Use one arm for the plastic bottle with blue label and the other for the bottle with yellow Chinese characters.",
+    "Pick up the plastic bottle with blue label and the shiny red bottle in parallel.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Grasp the bottle with ridges near base and the bottle with yellow Chinese characters simultaneously.",
+    "Pick up both the bottle with ridges near base and the bottle with yellow Chinese characters together.",
+    "Use each arm to grab one of the bottle with ridges near base and the bottle with white and yellow label.",
+    "Raise both different bottles, the plastic bottle with blue label and the shiny red bottle, together.",
+    "Lift the bottle with ridges near base as the other arm lifts the shiny red bottle.",
+    "Grab the bottle with ridges near base and the shiny red bottle at the same time.",
+    "Take hold of the plastic bottle with blue label and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the shiny red bottle.",
+    "Pick up the bottle with ridges near base and the bottle with white and yellow label in parallel.",
+    "Lift the bottle with ridges near base and the shiny red bottle simultaneously with separate arms.",
+    "Grasp the bottle with ridges near base and the shiny red bottle simultaneously.",
+    "Pick up both the bottle with ridges near base and the bottle with white and yellow label together.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with white and yellow label.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow Chinese characters, together.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with white and yellow label.",
+    "Grab the plastic bottle with blue label and the bottle with yellow Chinese characters at the same time.",
+    "Take hold of the hand-sized bottle with ridged bottom and the shiny red bottle at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with white and yellow label.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with white and yellow label in parallel.",
+    "Lift the hand-sized bottle with ridged bottom and the shiny red bottle simultaneously with separate arms.",
+    "Grasp the plastic bottle with blue label and the bottle with yellow Chinese characters simultaneously.",
+    "Pick up both the hand-sized bottle with ridged bottom and the shiny red bottle together.",
+    "Use each arm to grab one of the bottle with ridges near base and the shiny red bottle.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the shiny red bottle, together.",
+    "Lift the plastic bottle with blue label as the other arm lifts the shiny red bottle.",
+    "Grab the plastic bottle with blue label and the bottle with yellow Chinese characters at the same time.",
+    "Take hold of the bottle with ridges near base and the shiny red bottle at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with yellow Chinese characters.",
+    "Pick up the bottle with ridges near base and the bottle with yellow Chinese characters in parallel.",
+    "Lift the hand-sized bottle with ridged bottom and the shiny red bottle simultaneously with separate arms.",
+    "Grasp the plastic bottle with blue label and the bottle with white and yellow label simultaneously.",
+    "Pick up both the bottle with ridges near base and the bottle with white and yellow label together.",
+    "Use each arm to grab one of the bottle with ridges near base and the bottle with yellow Chinese characters.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the shiny red bottle, together.",
+    "Lift the plastic bottle with blue label as the other arm lifts the shiny red bottle.",
+    "Grab the plastic bottle with blue label and the shiny red bottle at the same time.",
+    "Take hold of the plastic bottle with blue label and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with yellow Chinese characters.",
+    "Pick up the bottle with ridges near base and the bottle with yellow Chinese characters in parallel.",
+    "Lift the plastic bottle with blue label and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Grasp the plastic bottle with blue label and the bottle with yellow Chinese characters simultaneously.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters together.",
+    "Use each arm to grab one of the bottle with ridges near base and the bottle with white and yellow label.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow Chinese characters, together.",
+    "Lift the plastic bottle with blue label as the other arm lifts the shiny red bottle.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with white and yellow label at the same time.",
+    "Take hold of the bottle with ridges near base and the shiny red bottle at once.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the bottle with white and yellow label.",
+    "Pick up the bottle with ridges near base and the bottle with yellow Chinese characters in parallel.",
+    "Lift the bottle with ridges near base and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Grasp the bottle with ridges near base and the shiny red bottle simultaneously.",
+    "Pick up both the bottle with ridges near base and the shiny red bottle together.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the shiny red bottle.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow Chinese characters, together.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the shiny red bottle.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with white and yellow label at the same time.",
+    "Take hold of the bottle with ridges near base and the shiny red bottle at once.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the shiny red bottle.",
+    "Pick up the plastic bottle with blue label and the bottle with yellow Chinese characters in parallel.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Grasp the hand-sized bottle with ridged bottom and the shiny red bottle simultaneously.",
+    "Pick up both the bottle with ridges near base and the bottle with yellow Chinese characters together.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with yellow Chinese characters.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with white and yellow label, together.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the shiny red bottle.",
+    "Grab the plastic bottle with blue label and the shiny red bottle at the same time.",
+    "Take hold of the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the bottle with ridges near base and the other for the shiny red bottle.",
+    "Pick up the plastic bottle with blue label and the shiny red bottle in parallel.",
+    "Lift the bottle with ridges near base and the shiny red bottle simultaneously with separate arms.",
+    "Grasp the plastic bottle with blue label and the bottle with white and yellow label simultaneously.",
+    "Pick up both the hand-sized bottle with ridged bottom and the shiny red bottle together.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the bottle with white and yellow label.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters, together.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with white and yellow label.",
+    "Grab the bottle with ridges near base and the bottle with white and yellow label at the same time.",
+    "Take hold of the bottle with ridges near base and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the plastic bottle with blue label and the other for the bottle with white and yellow label.",
+    "Pick up the hand-sized bottle with ridged bottom and the shiny red bottle in parallel.",
+    "Lift the plastic bottle with blue label and the bottle with white and yellow label simultaneously with separate arms.",
+    "Grasp the plastic bottle with blue label and the bottle with white and yellow label simultaneously.",
+    "Pick up both the bottle with ridges near base and the bottle with white and yellow label together.",
+    "Use each arm to grab one of the bottle with ridges near base and the shiny red bottle.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow Chinese characters, together."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000008.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..66ebb1031d49989f1a2ea072679e775d565d6e07
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000008.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use each arm to secure one of the hand-sized soda bottle and the brown bottle with rounded rectangular shape.",
+    "Grab the hand-sized soda bottle and the brown bottle at the same time.",
+    "Pick the hand-sized soda bottle while the other arm picks the smooth brown bottle with green label.",
+    "Simultaneously grasp and lift the red-capped bottle and the rectangular-shaped bottle with round cap.",
+    "Hold both the narrow-necked bottle and the bottle with flat sides and logo, one in each arm.",
+    "Raise the smooth bottle with red lid and the brown bottle at the same time.",
+    "Raise both bottles at once: the Coca-Cola bottle and the brown bottle with rounded rectangular shape.",
+    "Grasp the different bottles the bottle with ridges on bottom and the smooth plastic bottle with white cap simultaneously.",
+    "Grasp the long thin bottle as the other arm grasps the brown bottle with rounded rectangular shape.",
+    "Reach for the plastic drink bottle and the rectangular-shaped bottle with round cap with both arms at once.",
+    "Use both arms to grasp the bottle with ridges on bottom and the brown bottle with rounded rectangular shape together.",
+    "Grab both bottles in parallel, the brown bottle with red label and the dark brown bottle with a squared body.",
+    "Take the bottle with white neck and red top and the plastic bottle together, one per arm.",
+    "Pick the narrow-necked bottle and the bottle with green cap up in parallel.",
+    "Raise the bottle with ridges on bottom with one arm and the brown bottle with rounded rectangular shape with the other.",
+    "Catch the Coca-Cola bottle and the smooth plastic bottle with white cap together.",
+    "Secure both the dark drink bottle with logo and the bottle with green cap simultaneously.",
+    "Pick up the pair the hand-sized soda bottle and the dark brown bottle with a squared body together.",
+    "Each arm should grab one bottle: the red-capped bottle and the smooth plastic bottle with white cap.",
+    "Hold the brown bottle with red label in one arm and the brown bottle in the other.",
+    "Assign one arm to the plastic drink bottle and one to the rectangular-shaped bottle with round cap.",
+    "Take hold of the plastic drink bottle and the plastic bottle at once.",
+    "Use one arm for the narrow-necked bottle and the other for the dark brown bottle with a squared body.",
+    "Pick up both the medium dark brown bottle and the rectangular-shaped bottle with round cap using separate arms.",
+    "Use separate arms to lift the Coca-Cola bottle and the bottle with flat sides and logo.",
+    "Lift the bottle with white neck and red top and the rectangular brown body with white top in one synchronized motion.",
+    "Pick up the dark drink bottle with logo and the brown bottle simultaneously.",
+    "Lift both different bottles, the hand-sized soda bottle and the plastic bottle, together.",
+    "Lift the red-capped bottle and the rectangular brown body with white top together with both arms.",
+    "Use both arms simultaneously for the smooth bottle with red lid and the smooth plastic bottle with white cap.",
+    "Use each arm to secure one of the smooth bottle with red lid and the brown bottle with rounded rectangular shape.",
+    "Grab the long thin bottle and the plastic bottle at the same time.",
+    "Pick the medium dark brown bottle while the other arm picks the smooth plastic bottle with white cap.",
+    "Simultaneously grasp and lift the brown bottle with red label and the medium bottle with glossy surface.",
+    "Hold both the hand-sized soda bottle and the bottle with green cap, one in each arm.",
+    "Raise the narrow-necked bottle and the brown bottle with rounded rectangular shape at the same time.",
+    "Raise both bottles at once: the bottle with ridges on bottom and the medium bottle with glossy surface.",
+    "Grasp the different bottles the long thin bottle and the dark brown bottle with a squared body simultaneously.",
+    "Grasp the bottle with ridges on bottom as the other arm grasps the smooth brown bottle with green label.",
+    "Reach for the Coca-Cola bottle and the dark brown bottle with a squared body with both arms at once.",
+    "Use both arms to grasp the Coca-Cola bottle and the smooth plastic bottle with white cap together.",
+    "Grab both bottles in parallel, the dark drink bottle with logo and the medium-sized brown plastic bottle.",
+    "Take the Coca-Cola bottle and the smooth plastic bottle with white cap together, one per arm.",
+    "Pick the plastic drink bottle and the bottle with green cap up in parallel.",
+    "Raise the hand-sized soda bottle with one arm and the bottle with flat sides and logo with the other.",
+    "Catch the brown bottle with red label and the medium bottle with glossy surface together.",
+    "Secure both the bottle with ridges on bottom and the medium-sized brown plastic bottle simultaneously.",
+    "Pick up the pair the Coca-Cola bottle and the bottle with flat sides and logo together.",
+    "Each arm should grab one bottle: the narrow-necked bottle and the bottle with flat sides and logo.",
+    "Hold the bottle with white neck and red top in one arm and the brown bottle in the other.",
+    "Assign one arm to the bottle with ridges on bottom and one to the bottle with green cap.",
+    "Take hold of the hand-sized soda bottle and the smooth brown bottle with green label at once.",
+    "Use one arm for the smooth bottle with red lid and the other for the medium-sized brown plastic bottle.",
+    "Pick up both the plastic drink bottle and the plastic bottle using separate arms.",
+    "Use separate arms to lift the medium dark brown bottle and the brown bottle.",
+    "Lift the long thin bottle and the plastic bottle in one synchronized motion.",
+    "Pick up the dark drink bottle with logo and the smooth plastic bottle with white cap simultaneously.",
+    "Lift both different bottles, the red-capped bottle and the smooth brown bottle with green label, together.",
+    "Lift the medium dark brown bottle and the smooth plastic bottle with white cap together with both arms.",
+    "Use both arms simultaneously for the red-capped bottle and the brown bottle.",
+    "Use each arm to secure one of the smooth bottle with red lid and the plastic bottle.",
+    "Grab the dark drink bottle with logo and the dark brown bottle with a squared body at the same time.",
+    "Pick the narrow-necked bottle while the other arm picks the bottle with flat sides and logo.",
+    "Simultaneously grasp and lift the medium dark brown bottle and the medium-sized brown plastic bottle.",
+    "Hold both the Coca-Cola bottle and the bottle with green cap, one in each arm.",
+    "Raise the bottle with white neck and red top and the rectangular-shaped bottle with round cap at the same time.",
+    "Raise both bottles at once: the bottle with white neck and red top and the smooth plastic bottle with white cap.",
+    "Grasp the different bottles the plastic drink bottle and the smooth brown bottle with green label simultaneously.",
+    "Grasp the smooth bottle with red lid as the other arm grasps the smooth plastic bottle with white cap.",
+    "Reach for the Coca-Cola bottle and the rectangular-shaped bottle with round cap with both arms at once.",
+    "Use both arms to grasp the bottle with white neck and red top and the medium-sized brown plastic bottle together.",
+    "Grab both bottles in parallel, the bottle with ridges on bottom and the bottle with green cap.",
+    "Take the brown bottle with red label and the rectangular brown body with white top together, one per arm.",
+    "Pick the smooth bottle with red lid and the rectangular-shaped bottle with round cap up in parallel.",
+    "Raise the long thin bottle with one arm and the smooth brown bottle with green label with the other.",
+    "Catch the Coca-Cola bottle and the smooth brown bottle with green label together.",
+    "Secure both the smooth bottle with red lid and the brown bottle with rounded rectangular shape simultaneously.",
+    "Pick up the pair the long thin bottle and the smooth brown bottle with green label together.",
+    "Each arm should grab one bottle: the Coca-Cola bottle and the bottle with green cap.",
+    "Hold the smooth bottle with red lid in one arm and the brown bottle in the other.",
+    "Assign one arm to the Coca-Cola bottle and one to the medium-sized brown plastic bottle.",
+    "Take hold of the bottle with white neck and red top and the brown bottle at once.",
+    "Use one arm for the medium dark brown bottle and the other for the medium-sized brown plastic bottle.",
+    "Pick up both the bottle with white neck and red top and the dark brown bottle with a squared body using separate arms.",
+    "Use separate arms to lift the Coca-Cola bottle and the smooth plastic bottle with white cap.",
+    "Lift the hand-sized soda bottle and the bottle with green cap in one synchronized motion.",
+    "Pick up the hand-sized soda bottle and the dark brown bottle with a squared body simultaneously.",
+    "Lift both different bottles, the bottle with white neck and red top and the plastic bottle, together.",
+    "Lift the dark drink bottle with logo and the bottle with green cap together with both arms.",
+    "Use both arms simultaneously for the brown bottle with red label and the dark brown bottle with a squared body.",
+    "Use each arm to secure one of the dark drink bottle with logo and the plastic bottle.",
+    "Grab the plastic drink bottle and the bottle with green cap at the same time.",
+    "Pick the plastic drink bottle while the other arm picks the bottle with green cap.",
+    "Simultaneously grasp and lift the hand-sized soda bottle and the smooth plastic bottle with white cap.",
+    "Hold both the smooth bottle with red lid and the rectangular-shaped bottle with round cap, one in each arm.",
+    "Raise the plastic drink bottle and the rectangular brown body with white top at the same time.",
+    "Raise both bottles at once: the narrow-necked bottle and the bottle with green cap.",
+    "Grasp the different bottles the bottle with white neck and red top and the smooth brown bottle with green label simultaneously.",
+    "Grasp the Coca-Cola bottle as the other arm grasps the brown bottle with rounded rectangular shape.",
+    "Reach for the plastic drink bottle and the plastic bottle with both arms at once."
+  ],
+  "unseen": [
+    "Lift the bottle with red screw cap as the other arm lifts the medium-sized plastic bottle with capped top.",
+    "Grab the brown bottle and the liquid container dark brown plastic at the same time.",
+    "Lift the bottle with red screw cap and the bottle with green label and white lid simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with red screw cap and the liquid container dark brown plastic.",
+    "Raise both different bottles, the brown bottle and the bottle with green label and white lid, together.",
+    "Grasp the bottle with red screw cap and the liquid container dark brown plastic simultaneously.",
+    "Take hold of the plastic soda bottle and the liquid container dark brown plastic at once.",
+    "Pick up both the brown bottle and the medium-sized plastic bottle with capped top together.",
+    "Pick up the plastic soda bottle and the medium-sized plastic bottle with capped top in parallel.",
+    "Use one arm for the bottle with red screw cap and the other for the liquid container dark brown plastic.",
+    "Lift the plastic soda bottle as the other arm lifts the bottle with green label and white lid.",
+    "Grab the bottle with red screw cap and the liquid container dark brown plastic at the same time.",
+    "Lift the brown bottle and the liquid container dark brown plastic simultaneously with separate arms.",
+    "Use each arm to grab one of the brown bottle and the bottle with green label and white lid.",
+    "Raise both different bottles, the plastic soda bottle and the medium-sized plastic bottle with capped top, together.",
+    "Grasp the brown bottle and the medium-sized plastic bottle with capped top simultaneously.",
+    "Take hold of the brown bottle and the medium-sized plastic bottle with capped top at once.",
+    "Pick up both the plastic soda bottle and the bottle with green label and white lid together.",
+    "Pick up the plastic soda bottle and the liquid container dark brown plastic in parallel.",
+    "Use one arm for the brown bottle and the other for the medium-sized plastic bottle with capped top.",
+    "Lift the bottle with red screw cap as the other arm lifts the liquid container dark brown plastic.",
+    "Grab the brown bottle and the liquid container dark brown plastic at the same time.",
+    "Lift the brown bottle and the medium-sized plastic bottle with capped top simultaneously with separate arms.",
+    "Use each arm to grab one of the brown bottle and the bottle with green label and white lid.",
+    "Raise both different bottles, the plastic soda bottle and the bottle with green label and white lid, together.",
+    "Grasp the plastic soda bottle and the bottle with green label and white lid simultaneously.",
+    "Take hold of the plastic soda bottle and the medium-sized plastic bottle with capped top at once.",
+    "Pick up both the brown bottle and the liquid container dark brown plastic together.",
+    "Pick up the plastic soda bottle and the liquid container dark brown plastic in parallel.",
+    "Use one arm for the bottle with red screw cap and the other for the bottle with green label and white lid.",
+    "Lift the brown bottle as the other arm lifts the medium-sized plastic bottle with capped top.",
+    "Grab the brown bottle and the bottle with green label and white lid at the same time.",
+    "Lift the plastic soda bottle and the medium-sized plastic bottle with capped top simultaneously with separate arms.",
+    "Use each arm to grab one of the brown bottle and the liquid container dark brown plastic.",
+    "Raise both different bottles, the brown bottle and the bottle with green label and white lid, together.",
+    "Grasp the brown bottle and the bottle with green label and white lid simultaneously.",
+    "Take hold of the bottle with red screw cap and the medium-sized plastic bottle with capped top at once.",
+    "Pick up both the plastic soda bottle and the liquid container dark brown plastic together.",
+    "Pick up the plastic soda bottle and the medium-sized plastic bottle with capped top in parallel.",
+    "Use one arm for the bottle with red screw cap and the other for the liquid container dark brown plastic.",
+    "Lift the brown bottle as the other arm lifts the medium-sized plastic bottle with capped top.",
+    "Grab the plastic soda bottle and the liquid container dark brown plastic at the same time.",
+    "Lift the brown bottle and the bottle with green label and white lid simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with red screw cap and the medium-sized plastic bottle with capped top.",
+    "Raise both different bottles, the brown bottle and the liquid container dark brown plastic, together.",
+    "Grasp the plastic soda bottle and the liquid container dark brown plastic simultaneously.",
+    "Take hold of the bottle with red screw cap and the liquid container dark brown plastic at once.",
+    "Pick up both the bottle with red screw cap and the bottle with green label and white lid together.",
+    "Pick up the plastic soda bottle and the liquid container dark brown plastic in parallel.",
+    "Use one arm for the bottle with red screw cap and the other for the liquid container dark brown plastic.",
+    "Lift the plastic soda bottle as the other arm lifts the medium-sized plastic bottle with capped top.",
+    "Grab the plastic soda bottle and the medium-sized plastic bottle with capped top at the same time.",
+    "Lift the plastic soda bottle and the medium-sized plastic bottle with capped top simultaneously with separate arms.",
+    "Use each arm to grab one of the plastic soda bottle and the bottle with green label and white lid.",
+    "Raise both different bottles, the bottle with red screw cap and the medium-sized plastic bottle with capped top, together.",
+    "Grasp the bottle with red screw cap and the medium-sized plastic bottle with capped top simultaneously.",
+    "Take hold of the plastic soda bottle and the bottle with green label and white lid at once.",
+    "Pick up both the bottle with red screw cap and the bottle with green label and white lid together.",
+    "Pick up the plastic soda bottle and the medium-sized plastic bottle with capped top in parallel.",
+    "Use one arm for the plastic soda bottle and the other for the bottle with green label and white lid.",
+    "Lift the brown bottle as the other arm lifts the liquid container dark brown plastic.",
+    "Grab the brown bottle and the medium-sized plastic bottle with capped top at the same time.",
+    "Lift the bottle with red screw cap and the medium-sized plastic bottle with capped top simultaneously with separate arms.",
+    "Use each arm to grab one of the plastic soda bottle and the liquid container dark brown plastic.",
+    "Raise both different bottles, the brown bottle and the liquid container dark brown plastic, together.",
+    "Grasp the bottle with red screw cap and the bottle with green label and white lid simultaneously.",
+    "Take hold of the plastic soda bottle and the liquid container dark brown plastic at once.",
+    "Pick up both the bottle with red screw cap and the liquid container dark brown plastic together.",
+    "Pick up the bottle with red screw cap and the bottle with green label and white lid in parallel.",
+    "Use one arm for the brown bottle and the other for the medium-sized plastic bottle with capped top.",
+    "Lift the brown bottle as the other arm lifts the bottle with green label and white lid.",
+    "Grab the brown bottle and the bottle with green label and white lid at the same time.",
+    "Lift the brown bottle and the liquid container dark brown plastic simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with red screw cap and the bottle with green label and white lid.",
+    "Raise both different bottles, the plastic soda bottle and the medium-sized plastic bottle with capped top, together.",
+    "Grasp the bottle with red screw cap and the medium-sized plastic bottle with capped top simultaneously.",
+    "Take hold of the bottle with red screw cap and the medium-sized plastic bottle with capped top at once.",
+    "Pick up both the plastic soda bottle and the liquid container dark brown plastic together.",
+    "Pick up the plastic soda bottle and the medium-sized plastic bottle with capped top in parallel.",
+    "Use one arm for the brown bottle and the other for the liquid container dark brown plastic.",
+    "Lift the bottle with red screw cap as the other arm lifts the medium-sized plastic bottle with capped top.",
+    "Grab the plastic soda bottle and the medium-sized plastic bottle with capped top at the same time.",
+    "Lift the brown bottle and the bottle with green label and white lid simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with red screw cap and the liquid container dark brown plastic.",
+    "Raise both different bottles, the plastic soda bottle and the medium-sized plastic bottle with capped top, together.",
+    "Grasp the plastic soda bottle and the medium-sized plastic bottle with capped top simultaneously.",
+    "Take hold of the brown bottle and the bottle with green label and white lid at once.",
+    "Pick up both the plastic soda bottle and the liquid container dark brown plastic together.",
+    "Pick up the plastic soda bottle and the liquid container dark brown plastic in parallel.",
+    "Use one arm for the bottle with red screw cap and the other for the liquid container dark brown plastic.",
+    "Lift the brown bottle as the other arm lifts the bottle with green label and white lid.",
+    "Grab the bottle with red screw cap and the liquid container dark brown plastic at the same time.",
+    "Lift the bottle with red screw cap and the bottle with green label and white lid simultaneously with separate arms.",
+    "Use each arm to grab one of the plastic soda bottle and the medium-sized plastic bottle with capped top.",
+    "Raise both different bottles, the brown bottle and the liquid container dark brown plastic, together.",
+    "Grasp the plastic soda bottle and the medium-sized plastic bottle with capped top simultaneously.",
+    "Take hold of the bottle with red screw cap and the medium-sized plastic bottle with capped top at once.",
+    "Pick up both the bottle with red screw cap and the liquid container dark brown plastic together.",
+    "Pick up the plastic soda bottle and the liquid container dark brown plastic in parallel.",
+    "Use one arm for the brown bottle and the other for the liquid container dark brown plastic."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000009.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..448bc4b03393079f35c7bafbc57e7f441ce135e5
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000009.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the handheld plastic bottle in one arm and the yellow-capped orange plastic bottle in the other.",
+    "Reach for the cylindrical bottle with rounded cap and the rounded orange bottle with yellow top with both arms at once.",
+    "Take hold of the green bottle with black text label and the orange bottle with bold labeling at once.",
+    "Secure both the bottle with yellow cap and the yellow-capped orange plastic bottle simultaneously.",
+    "Lift both different bottles, the bottle with yellow cap and the handheld medium-sized liquid bottle, together.",
+    "Grab the green bottle with black text label and the smooth orange cylindrical bottle at the same time.",
+    "Raise both bottles at once: the bottle with yellow cap and the rounded bottom orange plastic bottle.",
+    "Take the cylindrical liquid bottle with yellow top and the handheld medium-sized liquid bottle together, one per arm.",
+    "Pick the medium bottle with green body and the liquid container with orange body up in parallel.",
+    "Pick up both the bottle with yellow cap and the cylindrical orange bottle with smooth surface using separate arms.",
+    "Use separate arms to lift the medium bottle with green body and the rounded bottom orange plastic bottle.",
+    "Grasp the green bottle as the other arm grasps the smooth orange cylindrical bottle.",
+    "Pick up the cylindrical bottle with rounded cap and the orange bottle with bold labeling simultaneously.",
+    "Raise the handheld plastic bottle and the handheld medium-sized liquid bottle at the same time.",
+    "Use both arms to grasp the bottle with yellow cap and the yellow-capped bottle for beverages together.",
+    "Use one arm for the green bottle with black text label and the other for the cylindrical orange bottle with smooth surface.",
+    "Use each arm to secure one of the plastic bottle and the small bottle with bright yellow lid.",
+    "Lift the smooth green and yellow bottle and the smooth orange cylindrical bottle in one synchronized motion.",
+    "Hold both the cylindrical liquid bottle with yellow top and the rounded bottom orange plastic bottle, one in each arm.",
+    "Grasp the different bottles the smooth green and yellow bottle and the yellow-capped orange plastic bottle simultaneously.",
+    "Pick up the pair the green bottle and the rounded bottom orange plastic bottle together.",
+    "Lift the bottle with yellow cap and the orange bottle together with both arms.",
+    "Pick the green bottle with black text label while the other arm picks the cylindrical orange bottle with smooth surface.",
+    "Assign one arm to the green bottle and one to the small bottle with bright yellow lid.",
+    "Each arm should grab one bottle: the smooth green and yellow bottle and the rounded orange bottle with yellow top.",
+    "Simultaneously grasp and lift the bottle with yellow cap and the yellow-capped orange plastic bottle.",
+    "Raise the cylindrical liquid bottle with yellow top with one arm and the rounded orange bottle with yellow top with the other.",
+    "Catch the plastic bottle and the cylindrical orange bottle with smooth surface together.",
+    "Use both arms simultaneously for the smooth green and yellow bottle and the rounded bottom orange plastic bottle.",
+    "Grab both bottles in parallel, the plastic bottle and the rounded orange bottle with yellow top.",
+    "Hold the cylindrical bottle with rounded cap in one arm and the cylindrical orange bottle with smooth surface in the other.",
+    "Reach for the medium bottle with green body and the smooth orange cylindrical bottle with both arms at once.",
+    "Take hold of the bottle with yellow cap and the rounded orange bottle with yellow top at once.",
+    "Secure both the smooth green and yellow bottle and the small bottle with bright yellow lid simultaneously.",
+    "Lift both different bottles, the medium bottle with green body and the rounded orange bottle with yellow top, together.",
+    "Grab the green bottle and the liquid container with orange body at the same time.",
+    "Raise both bottles at once: the bottle with yellow cap and the rounded bottom orange plastic bottle.",
+    "Take the plastic bottle with colored label and the liquid container with orange body together, one per arm.",
+    "Pick the green bottle with white label and the yellow-capped orange plastic bottle up in parallel.",
+    "Pick up both the plastic bottle with colored label and the smooth orange cylindrical bottle using separate arms.",
+    "Use separate arms to lift the smooth green and yellow bottle and the small bottle with bright yellow lid.",
+    "Grasp the handheld plastic bottle as the other arm grasps the small bottle with bright yellow lid.",
+    "Pick up the green bottle with black text label and the rounded orange bottle with yellow top simultaneously.",
+    "Raise the green bottle with black text label and the rounded orange bottle with yellow top at the same time.",
+    "Use both arms to grasp the green bottle with white label and the handheld medium-sized liquid bottle together.",
+    "Use one arm for the green bottle and the other for the cylindrical orange bottle with smooth surface.",
+    "Use each arm to secure one of the bottle with yellow cap and the orange bottle with bold labeling.",
+    "Lift the handheld plastic bottle and the orange bottle with bold labeling in one synchronized motion.",
+    "Hold both the plastic bottle with colored label and the handheld medium-sized liquid bottle, one in each arm.",
+    "Grasp the different bottles the cylindrical liquid bottle with yellow top and the orange bottle simultaneously.",
+    "Pick up the pair the green bottle with black text label and the rounded orange bottle with yellow top together.",
+    "Lift the bottle with glossy plastic finish and the liquid container with orange body together with both arms.",
+    "Pick the cylindrical liquid bottle with yellow top while the other arm picks the yellow-capped bottle for beverages.",
+    "Assign one arm to the plastic bottle with colored label and one to the liquid container with orange body.",
+    "Each arm should grab one bottle: the green bottle with black text label and the cylindrical orange bottle with smooth surface.",
+    "Simultaneously grasp and lift the green bottle with black text label and the handheld medium-sized liquid bottle.",
+    "Raise the plastic bottle with one arm and the orange bottle with the other.",
+    "Catch the plastic bottle with colored label and the bottle with yellow cap together.",
+    "Use both arms simultaneously for the green bottle with white label and the handheld medium-sized liquid bottle.",
+    "Grab both bottles in parallel, the green bottle and the small bottle with bright yellow lid.",
+    "Hold the smooth green and yellow bottle in one arm and the rounded bottom orange plastic bottle in the other.",
+    "Reach for the smooth green and yellow bottle and the handheld medium-sized liquid bottle with both arms at once.",
+    "Take hold of the bottle with glossy plastic finish and the smooth orange cylindrical bottle at once.",
+    "Secure both the smooth green and yellow bottle and the liquid container with orange body simultaneously.",
+    "Lift both different bottles, the cylindrical liquid bottle with yellow top and the cylindrical orange bottle with smooth surface, together.",
+    "Grab the plastic bottle and the cylindrical orange bottle with smooth surface at the same time.",
+    "Raise both bottles at once: the handheld plastic bottle and the yellow-capped bottle for beverages.",
+    "Take the green bottle with black text label and the yellow-capped bottle for beverages together, one per arm.",
+    "Pick the cylindrical liquid bottle with yellow top and the handheld medium-sized liquid bottle up in parallel.",
+    "Pick up both the green bottle and the small bottle with bright yellow lid using separate arms.",
+    "Use separate arms to lift the cylindrical liquid bottle with yellow top and the smooth orange cylindrical bottle.",
+    "Grasp the bottle with yellow cap as the other arm grasps the liquid container with orange body.",
+    "Pick up the green bottle with black text label and the smooth orange cylindrical bottle simultaneously.",
+    "Raise the green bottle with black text label and the smooth orange cylindrical bottle at the same time.",
+    "Use both arms to grasp the green bottle and the yellow-capped bottle for beverages together.",
+    "Use one arm for the green bottle and the other for the liquid container with orange body.",
+    "Use each arm to secure one of the plastic bottle with colored label and the handheld medium-sized liquid bottle.",
+    "Lift the green bottle with black text label and the rounded bottom orange plastic bottle in one synchronized motion.",
+    "Hold both the green bottle with white label and the rounded orange bottle with yellow top, one in each arm.",
+    "Grasp the different bottles the medium bottle with green body and the yellow-capped bottle for beverages simultaneously.",
+    "Pick up the pair the medium bottle with green body and the yellow-capped bottle for beverages together.",
+    "Lift the smooth green and yellow bottle and the liquid container with orange body together with both arms.",
+    "Pick the green bottle while the other arm picks the yellow-capped bottle for beverages.",
+    "Assign one arm to the plastic bottle with colored label and one to the handheld medium-sized liquid bottle.",
+    "Each arm should grab one bottle: the smooth green and yellow bottle and the cylindrical orange bottle with smooth surface.",
+    "Simultaneously grasp and lift the bottle with glossy plastic finish and the smooth orange cylindrical bottle.",
+    "Raise the handheld plastic bottle with one arm and the small bottle with bright yellow lid with the other.",
+    "Catch the smooth green and yellow bottle and the smooth orange cylindrical bottle together.",
+    "Use both arms simultaneously for the green bottle with white label and the handheld medium-sized liquid bottle.",
+    "Grab both bottles in parallel, the plastic bottle and the yellow-capped orange plastic bottle.",
+    "Hold the medium bottle with green body in one arm and the small bottle with bright yellow lid in the other.",
+    "Reach for the bottle with yellow cap and the cylindrical orange bottle with smooth surface with both arms at once.",
+    "Take hold of the plastic bottle with colored label and the smooth orange cylindrical bottle at once.",
+    "Secure both the plastic bottle with colored label and the cylindrical orange bottle with smooth surface simultaneously.",
+    "Lift both different bottles, the medium bottle with green body and the rounded bottom orange plastic bottle, together.",
+    "Grab the smooth green and yellow bottle and the bottle with yellow cap at the same time.",
+    "Raise both bottles at once: the cylindrical bottle with rounded cap and the liquid container with orange body.",
+    "Take the plastic bottle and the smooth orange cylindrical bottle together, one per arm.",
+    "Pick the green bottle with black text label and the yellow-capped orange plastic bottle up in parallel.",
+    "Pick up both the green bottle and the bottle with yellow cap using separate arms."
+  ],
+  "unseen": [
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the yellow-capped bottle with smooth surface and the medium bottle for liquids together.",
+    "Lift the bottle with green base and black prints as the other arm lifts the medium bottle for liquids.",
+    "Lift the medium-sized drink bottle and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Grasp the medium-sized drink bottle and the medium bottle for liquids simultaneously.",
+    "Take hold of the yellow-capped bottle with smooth surface and the medium bottle for liquids at once.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the medium plastic bottle, together.",
+    "Pick up the bottle with green base and black prints and the plastic orange bottle with rounded base in parallel.",
+    "Use each arm to grab one of the medium-sized drink bottle and the plastic orange bottle with rounded base.",
+    "Grab the medium-sized drink bottle and the plastic orange bottle with rounded base at the same time.",
+    "Use one arm for the bottle with green base and black prints and the other for the medium plastic bottle.",
+    "Pick up both the bottle with green base and black prints and the plastic orange bottle with rounded base together.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the plastic orange bottle with rounded base.",
+    "Lift the bottle with green base and black prints and the medium bottle for liquids simultaneously with separate arms.",
+    "Grasp the bottle with green base and black prints and the medium bottle for liquids simultaneously.",
+    "Take hold of the yellow-capped bottle with smooth surface and the medium plastic bottle at once.",
+    "Raise both different bottles, the medium-sized drink bottle and the medium bottle for liquids, together.",
+    "Pick up the medium-sized drink bottle and the medium bottle for liquids in parallel.",
+    "Use each arm to grab one of the bottle with green base and black prints and the medium bottle for liquids.",
+    "Grab the medium-sized drink bottle and the plastic orange bottle with rounded base at the same time.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the yellow-capped bottle with smooth surface and the medium plastic bottle together.",
+    "Lift the medium-sized drink bottle as the other arm lifts the medium bottle for liquids.",
+    "Lift the yellow-capped bottle with smooth surface and the medium bottle for liquids simultaneously with separate arms.",
+    "Grasp the yellow-capped bottle with smooth surface and the medium bottle for liquids simultaneously.",
+    "Take hold of the medium-sized drink bottle and the medium plastic bottle at once.",
+    "Raise both different bottles, the bottle with green base and black prints and the plastic orange bottle with rounded base, together.",
+    "Pick up the medium-sized drink bottle and the medium bottle for liquids in parallel.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the medium bottle for liquids.",
+    "Grab the bottle with green base and black prints and the plastic orange bottle with rounded base at the same time.",
+    "Use one arm for the bottle with green base and black prints and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the bottle with green base and black prints and the plastic orange bottle with rounded base together.",
+    "Lift the medium-sized drink bottle as the other arm lifts the plastic orange bottle with rounded base.",
+    "Lift the bottle with green base and black prints and the medium plastic bottle simultaneously with separate arms.",
+    "Grasp the medium-sized drink bottle and the medium bottle for liquids simultaneously.",
+    "Take hold of the yellow-capped bottle with smooth surface and the medium plastic bottle at once.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the medium plastic bottle, together.",
+    "Pick up the yellow-capped bottle with smooth surface and the medium plastic bottle in parallel.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the medium bottle for liquids.",
+    "Grab the bottle with green base and black prints and the medium plastic bottle at the same time.",
+    "Use one arm for the medium-sized drink bottle and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the yellow-capped bottle with smooth surface and the medium plastic bottle together.",
+    "Lift the bottle with green base and black prints as the other arm lifts the medium plastic bottle.",
+    "Lift the medium-sized drink bottle and the medium bottle for liquids simultaneously with separate arms.",
+    "Grasp the yellow-capped bottle with smooth surface and the medium bottle for liquids simultaneously.",
+    "Take hold of the medium-sized drink bottle and the plastic orange bottle with rounded base at once.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the plastic orange bottle with rounded base, together.",
+    "Pick up the yellow-capped bottle with smooth surface and the medium bottle for liquids in parallel.",
+    "Use each arm to grab one of the bottle with green base and black prints and the medium plastic bottle.",
+    "Grab the yellow-capped bottle with smooth surface and the medium plastic bottle at the same time.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the bottle with green base and black prints and the plastic orange bottle with rounded base together.",
+    "Lift the bottle with green base and black prints as the other arm lifts the medium plastic bottle.",
+    "Lift the yellow-capped bottle with smooth surface and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Grasp the yellow-capped bottle with smooth surface and the medium bottle for liquids simultaneously.",
+    "Take hold of the medium-sized drink bottle and the plastic orange bottle with rounded base at once.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the medium plastic bottle, together.",
+    "Pick up the bottle with green base and black prints and the medium plastic bottle in parallel.",
+    "Use each arm to grab one of the medium-sized drink bottle and the medium bottle for liquids.",
+    "Grab the yellow-capped bottle with smooth surface and the medium plastic bottle at the same time.",
+    "Use one arm for the bottle with green base and black prints and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the yellow-capped bottle with smooth surface and the plastic orange bottle with rounded base together.",
+    "Lift the bottle with green base and black prints as the other arm lifts the medium plastic bottle.",
+    "Lift the bottle with green base and black prints and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Grasp the medium-sized drink bottle and the plastic orange bottle with rounded base simultaneously.",
+    "Take hold of the bottle with green base and black prints and the medium bottle for liquids at once.",
+    "Raise both different bottles, the medium-sized drink bottle and the medium plastic bottle, together.",
+    "Pick up the bottle with green base and black prints and the medium bottle for liquids in parallel.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the medium plastic bottle.",
+    "Grab the bottle with green base and black prints and the medium plastic bottle at the same time.",
+    "Use one arm for the medium-sized drink bottle and the other for the medium bottle for liquids.",
+    "Pick up both the bottle with green base and black prints and the plastic orange bottle with rounded base together.",
+    "Lift the medium-sized drink bottle as the other arm lifts the plastic orange bottle with rounded base.",
+    "Lift the medium-sized drink bottle and the medium plastic bottle simultaneously with separate arms.",
+    "Grasp the medium-sized drink bottle and the plastic orange bottle with rounded base simultaneously.",
+    "Take hold of the medium-sized drink bottle and the medium plastic bottle at once.",
+    "Raise both different bottles, the bottle with green base and black prints and the medium bottle for liquids, together.",
+    "Pick up the medium-sized drink bottle and the medium bottle for liquids in parallel.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the medium bottle for liquids.",
+    "Grab the yellow-capped bottle with smooth surface and the medium plastic bottle at the same time.",
+    "Use one arm for the bottle with green base and black prints and the other for the plastic orange bottle with rounded base.",
+    "Pick up both the medium-sized drink bottle and the medium bottle for liquids together.",
+    "Lift the bottle with green base and black prints as the other arm lifts the medium bottle for liquids.",
+    "Lift the yellow-capped bottle with smooth surface and the medium bottle for liquids simultaneously with separate arms.",
+    "Grasp the medium-sized drink bottle and the plastic orange bottle with rounded base simultaneously.",
+    "Take hold of the medium-sized drink bottle and the medium bottle for liquids at once.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the medium bottle for liquids, together.",
+    "Pick up the bottle with green base and black prints and the medium plastic bottle in parallel.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the medium plastic bottle.",
+    "Grab the yellow-capped bottle with smooth surface and the plastic orange bottle with rounded base at the same time.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the medium plastic bottle.",
+    "Pick up both the yellow-capped bottle with smooth surface and the plastic orange bottle with rounded base together.",
+    "Lift the medium-sized drink bottle as the other arm lifts the medium bottle for liquids.",
+    "Lift the bottle with green base and black prints and the medium plastic bottle simultaneously with separate arms.",
+    "Grasp the medium-sized drink bottle and the medium bottle for liquids simultaneously.",
+    "Take hold of the bottle with green base and black prints and the plastic orange bottle with rounded base at once.",
+    "Raise both different bottles, the bottle with green base and black prints and the medium bottle for liquids, together.",
+    "Pick up the medium-sized drink bottle and the medium plastic bottle in parallel.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the medium bottle for liquids.",
+    "Grab the bottle with green base and black prints and the medium bottle for liquids at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000010.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c75a3532c8430d9042b6c27638633e629111fc6
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000010.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the smooth green bottle and the medium bottle for beverages together, one per arm.",
+    "Use both arms to grasp the bottle with white printed label and the white bottle with blue accents together.",
+    "Use each arm to secure one of the bottle with white printed label and the medium bottle for beverages.",
+    "Pick up the bottle with rounded neck and the plastic bottle simultaneously.",
+    "Hold the plastic bottle in one arm and the plastic bottle in the other.",
+    "Use one arm for the bottle with ridges near base and the other for the handheld bottle.",
+    "Grasp the medium-sized green bottle as the other arm grasps the bottle with blue cap.",
+    "Raise the medium green bottle with capped neck with one arm and the blue bottle with label with the other.",
+    "Simultaneously grasp and lift the bottle with ridges near base and the cylindrical bottle.",
+    "Use both arms simultaneously for the medium green bottle with capped neck and the bottle with blue cap.",
+    "Use separate arms to lift the bottle with white printed label and the blue bottle with label.",
+    "Lift the green bottle with indented base and the blue bottle with label together with both arms.",
+    "Pick the handheld green bottle while the other arm picks the white and blue bottle.",
+    "Take hold of the medium-sized green bottle and the plastic bottle at once.",
+    "Grab the smooth green bottle and the blue bottle with label at the same time.",
+    "Lift both different bottles, the medium green bottle with capped neck and the plastic bottle, together.",
+    "Secure both the bottle with narrow top and the plastic bottle simultaneously.",
+    "Raise both bottles at once: the green bottle with indented base and the smooth plastic bottle.",
+    "Raise the smooth green bottle and the blue bottle at the same time.",
+    "Assign one arm to the medium-sized green bottle and one to the bottle for liquids.",
+    "Pick up the pair the medium-sized green bottle and the plastic bottle together.",
+    "Pick the medium green bottle and the blue bottle with label up in parallel.",
+    "Lift the bottle with rounded neck and the bottle for liquids in one synchronized motion.",
+    "Hold both the smooth green bottle and the smooth plastic bottle, one in each arm.",
+    "Reach for the bottle with rounded neck and the handheld bottle with both arms at once.",
+    "Grasp the different bottles the smooth green bottle and the medium bottle for beverages simultaneously.",
+    "Catch the smooth green plastic bottle and the bottle for liquids together.",
+    "Pick up both the plastic bottle and the cylindrical bottle using separate arms.",
+    "Grab both bottles in parallel, the bottle with rounded neck and the bottle for liquids.",
+    "Each arm should grab one bottle: the smooth green plastic bottle and the handheld bottle.",
+    "Take the bottle with ridges near base and the handheld bottle together, one per arm.",
+    "Use both arms to grasp the handheld green bottle and the cylindrical bottle together.",
+    "Use each arm to secure one of the medium green bottle with capped neck and the blue bottle.",
+    "Pick up the bottle with rounded neck and the cylindrical bottle simultaneously.",
+    "Hold the bottle with white printed label in one arm and the white bottle with blue accents in the other.",
+    "Use one arm for the medium-sized green bottle and the other for the medium-sized bottle.",
+    "Grasp the bottle with rounded neck as the other arm grasps the blue bottle with label.",
+    "Raise the medium-sized green bottle with one arm and the white and blue bottle with the other.",
+    "Simultaneously grasp and lift the handheld green bottle and the plastic bottle.",
+    "Use both arms simultaneously for the green bottle with indented base and the white bottle with blue accents.",
+    "Use separate arms to lift the bottle with white printed label and the cylindrical bottle.",
+    "Lift the medium green bottle with capped neck and the smooth plastic bottle together with both arms.",
+    "Pick the bottle with white printed label while the other arm picks the white and blue bottle.",
+    "Take hold of the bottle with white printed label and the blue bottle with label at once.",
+    "Grab the handheld green bottle and the cylindrical bottle at the same time.",
+    "Lift both different bottles, the bottle with white printed label and the smooth plastic bottle, together.",
+    "Secure both the bottle with white printed label and the bottle with blue cap simultaneously.",
+    "Raise both bottles at once: the green bottle with indented base and the blue bottle.",
+    "Raise the medium-sized green bottle and the bottle with blue cap at the same time.",
+    "Assign one arm to the smooth green plastic bottle and one to the medium-sized bottle.",
+    "Pick up the pair the handheld green bottle and the medium bottle for beverages together.",
+    "Pick the medium-sized green bottle and the handheld bottle up in parallel.",
+    "Lift the plastic bottle and the plastic bottle in one synchronized motion.",
+    "Hold both the green bottle with indented base and the white and blue bottle, one in each arm.",
+    "Reach for the bottle with narrow top and the blue bottle with both arms at once.",
+    "Grasp the different bottles the handheld green bottle and the bottle with blue cap simultaneously.",
+    "Catch the medium green bottle and the handheld bottle together.",
+    "Pick up both the medium-sized green bottle and the white and blue bottle using separate arms.",
+    "Grab both bottles in parallel, the bottle with white printed label and the cylindrical bottle.",
+    "Each arm should grab one bottle: the bottle with ridges near base and the plastic bottle.",
+    "Take the bottle with ridges near base and the blue bottle with label together, one per arm.",
+    "Use both arms to grasp the medium green bottle with capped neck and the white bottle with blue accents together.",
+    "Use each arm to secure one of the bottle with white printed label and the bottle with blue cap.",
+    "Pick up the bottle with narrow top and the handheld bottle simultaneously.",
+    "Hold the smooth green plastic bottle in one arm and the blue bottle in the other.",
+    "Use one arm for the smooth green plastic bottle and the other for the blue bottle.",
+    "Grasp the handheld green bottle as the other arm grasps the bottle with blue cap.",
+    "Raise the bottle with white printed label with one arm and the blue bottle with label with the other.",
+    "Simultaneously grasp and lift the bottle with narrow top and the medium bottle for beverages.",
+    "Use both arms simultaneously for the medium green bottle and the bottle for liquids.",
+    "Use separate arms to lift the bottle with ridges near base and the handheld bottle.",
+    "Lift the handheld green bottle and the bottle for liquids together with both arms.",
+    "Pick the plastic bottle while the other arm picks the cylindrical bottle.",
+    "Take hold of the green bottle with indented base and the handheld bottle at once.",
+    "Grab the smooth green plastic bottle and the blue bottle with label at the same time.",
+    "Lift both different bottles, the green bottle with indented base and the medium-sized bottle, together.",
+    "Secure both the plastic bottle and the bottle for liquids simultaneously.",
+    "Raise both bottles at once: the smooth green bottle and the white and blue bottle.",
+    "Raise the medium green bottle with capped neck and the medium bottle for beverages at the same time.",
+    "Assign one arm to the green bottle with indented base and one to the smooth plastic bottle.",
+    "Pick up the pair the bottle with white printed label and the blue bottle together.",
+    "Pick the smooth green plastic bottle and the medium-sized bottle up in parallel.",
+    "Lift the bottle with white printed label and the white bottle with blue accents in one synchronized motion.",
+    "Hold both the smooth green bottle and the blue bottle with label, one in each arm.",
+    "Reach for the bottle with narrow top and the smooth plastic bottle with both arms at once.",
+    "Grasp the different bottles the plastic bottle and the white bottle with blue accents simultaneously.",
+    "Catch the medium green bottle with capped neck and the smooth plastic bottle together.",
+    "Pick up both the bottle with white printed label and the blue bottle using separate arms.",
+    "Grab both bottles in parallel, the green bottle with indented base and the bottle with blue cap.",
+    "Each arm should grab one bottle: the bottle with rounded neck and the blue bottle with label.",
+    "Take the plastic bottle and the handheld bottle together, one per arm.",
+    "Use both arms to grasp the bottle with rounded neck and the white bottle with blue accents together.",
+    "Use each arm to secure one of the medium-sized green bottle and the blue bottle with label.",
+    "Pick up the smooth green plastic bottle and the bottle with blue cap simultaneously.",
+    "Hold the green bottle with indented base in one arm and the bottle with blue cap in the other.",
+    "Use one arm for the plastic bottle and the other for the white and blue bottle.",
+    "Grasp the smooth green plastic bottle as the other arm grasps the blue bottle with label.",
+    "Raise the medium green bottle with one arm and the smooth plastic bottle with the other.",
+    "Simultaneously grasp and lift the medium-sized green bottle and the white and blue bottle.",
+    "Use both arms simultaneously for the smooth green plastic bottle and the bottle with blue cap."
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom and the bottle with ridged neck in parallel.",
+    "Raise both different bottles, the green bottle with white label and the bottle with ridged neck, together.",
+    "Lift the green plastic bottle with ridged bottom and the bottle with ridged neck simultaneously with separate arms.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up both the green plastic bottle with ridged bottom and the bottle with ridged neck together.",
+    "Take hold of the green bottle and the bottle with ridged neck at once.",
+    "Grab the green bottle with white label and the bottle with curved neck design at the same time.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the bottle with curved neck design.",
+    "Use one arm for the green plastic bottle with ridged bottom and the other for the bottle with curved neck design.",
+    "Grasp the green bottle with white label and the bottle with curved neck design simultaneously.",
+    "Pick up the green plastic bottle with ridged bottom and the bottle with ridged neck in parallel.",
+    "Raise both different bottles, the green bottle with white label and the blue-capped plastic bottle, together.",
+    "Lift the green plastic bottle with ridged bottom and the bottle with curved neck design simultaneously with separate arms.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the bottle with curved neck design.",
+    "Pick up both the green bottle and the bottle with curved neck design together.",
+    "Take hold of the green bottle with white label and the bottle with ridged neck at once.",
+    "Grab the green bottle and the bottle with ridged neck at the same time.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the blue-capped plastic bottle.",
+    "Use one arm for the green bottle with white label and the other for the bottle with ridged neck.",
+    "Grasp the green plastic bottle with ridged bottom and the bottle with ridged neck simultaneously.",
+    "Pick up the green bottle with white label and the bottle with ridged neck in parallel.",
+    "Raise both different bottles, the green bottle with white label and the bottle with ridged neck, together.",
+    "Lift the green bottle with white label and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the bottle with curved neck design.",
+    "Pick up both the green bottle with white label and the bottle with curved neck design together.",
+    "Take hold of the green plastic bottle with ridged bottom and the bottle with ridged neck at once.",
+    "Grab the green bottle with white label and the bottle with curved neck design at the same time.",
+    "Use each arm to grab one of the green bottle and the bottle with curved neck design.",
+    "Use one arm for the green plastic bottle with ridged bottom and the other for the blue-capped plastic bottle.",
+    "Grasp the green plastic bottle with ridged bottom and the blue-capped plastic bottle simultaneously.",
+    "Pick up the green plastic bottle with ridged bottom and the bottle with curved neck design in parallel.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the bottle with ridged neck, together.",
+    "Lift the green bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the bottle with ridged neck.",
+    "Pick up both the green bottle and the bottle with curved neck design together.",
+    "Take hold of the green bottle and the bottle with ridged neck at once.",
+    "Grab the green plastic bottle with ridged bottom and the bottle with ridged neck at the same time.",
+    "Use each arm to grab one of the green bottle with white label and the blue-capped plastic bottle.",
+    "Use one arm for the green bottle and the other for the bottle with curved neck design.",
+    "Grasp the green bottle and the blue-capped plastic bottle simultaneously.",
+    "Pick up the green bottle with white label and the bottle with curved neck design in parallel.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the bottle with ridged neck, together.",
+    "Lift the green bottle and the bottle with ridged neck simultaneously with separate arms.",
+    "Lift the green bottle as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up both the green bottle and the blue-capped plastic bottle together.",
+    "Take hold of the green bottle with white label and the bottle with curved neck design at once.",
+    "Grab the green bottle with white label and the blue-capped plastic bottle at the same time.",
+    "Use each arm to grab one of the green bottle with white label and the blue-capped plastic bottle.",
+    "Use one arm for the green bottle and the other for the bottle with ridged neck.",
+    "Grasp the green bottle with white label and the bottle with ridged neck simultaneously.",
+    "Pick up the green bottle and the bottle with curved neck design in parallel.",
+    "Raise both different bottles, the green bottle with white label and the blue-capped plastic bottle, together.",
+    "Lift the green bottle with white label and the bottle with curved neck design simultaneously with separate arms.",
+    "Lift the green bottle with white label as the other arm lifts the bottle with curved neck design.",
+    "Pick up both the green plastic bottle with ridged bottom and the bottle with curved neck design together.",
+    "Take hold of the green bottle with white label and the bottle with curved neck design at once.",
+    "Grab the green bottle with white label and the blue-capped plastic bottle at the same time.",
+    "Use each arm to grab one of the green bottle with white label and the blue-capped plastic bottle.",
+    "Use one arm for the green bottle with white label and the other for the bottle with curved neck design.",
+    "Grasp the green bottle and the blue-capped plastic bottle simultaneously.",
+    "Pick up the green plastic bottle with ridged bottom and the bottle with curved neck design in parallel.",
+    "Raise both different bottles, the green bottle and the bottle with ridged neck, together.",
+    "Lift the green bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Lift the green bottle as the other arm lifts the bottle with ridged neck.",
+    "Pick up both the green plastic bottle with ridged bottom and the blue-capped plastic bottle together.",
+    "Take hold of the green bottle with white label and the blue-capped plastic bottle at once.",
+    "Grab the green bottle and the blue-capped plastic bottle at the same time.",
+    "Use each arm to grab one of the green bottle with white label and the bottle with ridged neck.",
+    "Use one arm for the green bottle and the other for the bottle with ridged neck.",
+    "Grasp the green bottle with white label and the bottle with ridged neck simultaneously.",
+    "Pick up the green plastic bottle with ridged bottom and the bottle with ridged neck in parallel.",
+    "Raise both different bottles, the green bottle with white label and the blue-capped plastic bottle, together.",
+    "Lift the green bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Lift the green bottle with white label as the other arm lifts the bottle with curved neck design.",
+    "Pick up both the green plastic bottle with ridged bottom and the bottle with curved neck design together.",
+    "Take hold of the green bottle with white label and the bottle with curved neck design at once.",
+    "Grab the green bottle and the blue-capped plastic bottle at the same time.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the bottle with ridged neck.",
+    "Use one arm for the green bottle and the other for the blue-capped plastic bottle.",
+    "Grasp the green bottle and the bottle with curved neck design simultaneously.",
+    "Pick up the green plastic bottle with ridged bottom and the blue-capped plastic bottle in parallel.",
+    "Raise both different bottles, the green bottle with white label and the bottle with ridged neck, together.",
+    "Lift the green bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the bottle with curved neck design.",
+    "Pick up both the green bottle and the bottle with curved neck design together.",
+    "Take hold of the green bottle and the blue-capped plastic bottle at once.",
+    "Grab the green bottle with white label and the bottle with curved neck design at the same time.",
+    "Use each arm to grab one of the green bottle and the bottle with curved neck design.",
+    "Use one arm for the green bottle and the other for the bottle with ridged neck.",
+    "Grasp the green bottle with white label and the bottle with curved neck design simultaneously.",
+    "Pick up the green plastic bottle with ridged bottom and the bottle with curved neck design in parallel.",
+    "Raise both different bottles, the green bottle with white label and the blue-capped plastic bottle, together.",
+    "Lift the green bottle with white label and the bottle with curved neck design simultaneously with separate arms.",
+    "Lift the green bottle as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up both the green plastic bottle with ridged bottom and the bottle with ridged neck together.",
+    "Take hold of the green bottle with white label and the bottle with curved neck design at once.",
+    "Grab the green bottle with white label and the bottle with curved neck design at the same time.",
+    "Use each arm to grab one of the green bottle with white label and the bottle with curved neck design.",
+    "Use one arm for the green bottle and the other for the blue-capped plastic bottle.",
+    "Grasp the green bottle with white label and the bottle with curved neck design simultaneously."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000011.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a23bf6d9ef3b1252b8f09445d7c53e172bd6fce
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000011.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the yellow-capped orange plastic bottle and the other for the medium black bottle with printed label.",
+    "Lift both different bottles, the yellow-capped bottle for beverages and the drink bottle with rounded yellow lid, together.",
+    "Hold the orange bottle with bold labeling in one arm and the drink bottle with rounded yellow lid in the other.",
+    "Lift the orange bottle with bold labeling and the black cylindrical bottle with ridges in one synchronized motion.",
+    "Pick up both the orange bottle and the medium bottle with yellow cap using separate arms.",
+    "Use both arms to grasp the liquid container with orange body and the black bottle together.",
+    "Grab the orange bottle with bold labeling and the black bottle at the same time.",
+    "Take the rounded orange bottle with yellow top and the drink bottle with rounded yellow lid together, one per arm.",
+    "Use separate arms to lift the rounded orange bottle with yellow top and the drink bottle with rounded yellow lid.",
+    "Hold both the small bottle with bright yellow lid and the smooth black bottle with ridges, one in each arm.",
+    "Simultaneously grasp and lift the bottle with yellow cap and the medium black bottle with printed label.",
+    "Pick up the pair the orange bottle with bold labeling and the medium black bottle with printed label together.",
+    "Pick the small bottle with bright yellow lid while the other arm picks the yellow capped drink bottle.",
+    "Raise the yellow-capped bottle for beverages and the plastic bottle with colorful label at the same time.",
+    "Raise the rounded orange bottle with yellow top with one arm and the black plastic bottle with Pepsi logo with the other.",
+    "Pick the rounded orange bottle with yellow top and the yellow-capped cylindrical bottle up in parallel.",
+    "Pick up the rounded bottom orange plastic bottle and the plastic bottle with colorful label simultaneously.",
+    "Take hold of the handheld medium-sized liquid bottle and the medium black bottle with printed label at once.",
+    "Grasp the different bottles the rounded bottom orange plastic bottle and the plastic bottle with colorful label simultaneously.",
+    "Raise both bottles at once: the liquid container with orange body and the medium bottle with yellow cap.",
+    "Secure both the smooth orange cylindrical bottle and the plastic bottle with colorful label simultaneously.",
+    "Each arm should grab one bottle: the cylindrical orange bottle with smooth surface and the black bottle.",
+    "Use both arms simultaneously for the yellow-capped orange plastic bottle and the medium bottle with yellow cap.",
+    "Assign one arm to the rounded bottom orange plastic bottle and one to the smooth black bottle with ridges.",
+    "Grab both bottles in parallel, the handheld medium-sized liquid bottle and the yellow capped drink bottle.",
+    "Lift the handheld medium-sized liquid bottle and the drink bottle with rounded yellow lid together with both arms.",
+    "Grasp the rounded orange bottle with yellow top as the other arm grasps the medium bottle with yellow cap.",
+    "Use each arm to secure one of the yellow-capped bottle for beverages and the black bottle.",
+    "Catch the bottle with yellow cap and the black cylindrical bottle with ridges together.",
+    "Reach for the rounded bottom orange plastic bottle and the medium black bottle with printed label with both arms at once.",
+    "Use one arm for the yellow-capped orange plastic bottle and the other for the beverage bottle with black body.",
+    "Lift both different bottles, the yellow-capped bottle for beverages and the beverage bottle with black body, together.",
+    "Hold the bottle with yellow cap in one arm and the plastic bottle with colorful label in the other.",
+    "Lift the orange bottle and the black cylindrical bottle with ridges in one synchronized motion.",
+    "Pick up both the handheld medium-sized liquid bottle and the black plastic bottle with Pepsi logo using separate arms.",
+    "Use both arms to grasp the orange bottle with bold labeling and the drink bottle with rounded yellow lid together.",
+    "Grab the liquid container with orange body and the bottle with blue and yellow print at the same time.",
+    "Take the yellow-capped orange plastic bottle and the black bottle together, one per arm.",
+    "Use separate arms to lift the cylindrical orange bottle with smooth surface and the black bottle.",
+    "Hold both the cylindrical orange bottle with smooth surface and the plastic bottle with colorful label, one in each arm.",
+    "Simultaneously grasp and lift the yellow-capped orange plastic bottle and the medium bottle with yellow cap.",
+    "Pick up the pair the liquid container with orange body and the medium black bottle with printed label together.",
+    "Pick the cylindrical orange bottle with smooth surface while the other arm picks the plastic bottle with colorful label.",
+    "Raise the rounded orange bottle with yellow top and the medium bottle with yellow cap at the same time.",
+    "Raise the liquid container with orange body with one arm and the drink bottle with rounded yellow lid with the other.",
+    "Pick the yellow-capped bottle for beverages and the plastic bottle with colorful label up in parallel.",
+    "Pick up the rounded orange bottle with yellow top and the yellow capped drink bottle simultaneously.",
+    "Take hold of the yellow-capped bottle for beverages and the yellow capped drink bottle at once.",
+    "Grasp the different bottles the orange bottle and the medium bottle with yellow cap simultaneously.",
+    "Raise both bottles at once: the small bottle with bright yellow lid and the drink bottle with rounded yellow lid.",
+    "Secure both the handheld medium-sized liquid bottle and the yellow-capped cylindrical bottle simultaneously.",
+    "Each arm should grab one bottle: the orange bottle and the yellow capped drink bottle.",
+    "Use both arms simultaneously for the handheld medium-sized liquid bottle and the beverage bottle with black body.",
+    "Assign one arm to the small bottle with bright yellow lid and one to the black bottle.",
+    "Grab both bottles in parallel, the smooth orange cylindrical bottle and the smooth black bottle with ridges.",
+    "Lift the yellow-capped orange plastic bottle and the yellow capped drink bottle together with both arms.",
+    "Grasp the bottle with yellow cap as the other arm grasps the plastic bottle with colorful label.",
+    "Use each arm to secure one of the small bottle with bright yellow lid and the plastic bottle with colorful label.",
+    "Catch the liquid container with orange body and the black cylindrical bottle with ridges together.",
+    "Reach for the handheld medium-sized liquid bottle and the yellow-capped cylindrical bottle with both arms at once.",
+    "Use one arm for the cylindrical orange bottle with smooth surface and the other for the plastic bottle with colorful label.",
+    "Lift both different bottles, the smooth orange cylindrical bottle and the black cylindrical bottle with ridges, together.",
+    "Hold the orange bottle in one arm and the yellow capped drink bottle in the other.",
+    "Lift the yellow-capped bottle for beverages and the black cylindrical bottle with ridges in one synchronized motion.",
+    "Pick up both the rounded bottom orange plastic bottle and the plastic bottle with colorful label using separate arms.",
+    "Use both arms to grasp the rounded orange bottle with yellow top and the medium black bottle with printed label together.",
+    "Grab the yellow-capped bottle for beverages and the black bottle at the same time.",
+    "Take the yellow-capped orange plastic bottle and the yellow-capped cylindrical bottle together, one per arm.",
+    "Use separate arms to lift the rounded orange bottle with yellow top and the black bottle.",
+    "Hold both the smooth orange cylindrical bottle and the beverage bottle with black body, one in each arm.",
+    "Simultaneously grasp and lift the smooth orange cylindrical bottle and the medium black bottle with printed label.",
+    "Pick up the pair the orange bottle and the drink bottle with rounded yellow lid together.",
+    "Pick the small bottle with bright yellow lid while the other arm picks the medium bottle with yellow cap.",
+    "Raise the bottle with yellow cap and the bottle with blue and yellow print at the same time.",
+    "Raise the yellow-capped orange plastic bottle with one arm and the drink bottle with rounded yellow lid with the other.",
+    "Pick the bottle with yellow cap and the beverage bottle with black body up in parallel.",
+    "Pick up the cylindrical orange bottle with smooth surface and the black bottle simultaneously.",
+    "Take hold of the small bottle with bright yellow lid and the black plastic bottle with Pepsi logo at once.",
+    "Grasp the different bottles the orange bottle and the black bottle simultaneously.",
+    "Raise both bottles at once: the small bottle with bright yellow lid and the plastic bottle with colorful label.",
+    "Secure both the yellow-capped orange plastic bottle and the yellow capped drink bottle simultaneously.",
+    "Each arm should grab one bottle: the orange bottle with bold labeling and the bottle with blue and yellow print.",
+    "Use both arms simultaneously for the yellow-capped orange plastic bottle and the yellow-capped cylindrical bottle.",
+    "Assign one arm to the yellow-capped orange plastic bottle and one to the black cylindrical bottle with ridges.",
+    "Grab both bottles in parallel, the orange bottle with bold labeling and the bottle with blue and yellow print.",
+    "Lift the rounded bottom orange plastic bottle and the smooth black bottle with ridges together with both arms.",
+    "Grasp the rounded bottom orange plastic bottle as the other arm grasps the black plastic bottle with Pepsi logo.",
+    "Use each arm to secure one of the bottle with yellow cap and the beverage bottle with black body.",
+    "Catch the orange bottle and the beverage bottle with black body together.",
+    "Reach for the yellow-capped bottle for beverages and the beverage bottle with black body with both arms at once.",
+    "Use one arm for the yellow-capped orange plastic bottle and the other for the smooth black bottle with ridges.",
+    "Lift both different bottles, the small bottle with bright yellow lid and the black plastic bottle with Pepsi logo, together.",
+    "Hold the smooth orange cylindrical bottle in one arm and the medium bottle with yellow cap in the other.",
+    "Lift the cylindrical orange bottle with smooth surface and the smooth black bottle with ridges in one synchronized motion.",
+    "Pick up both the bottle with yellow cap and the plastic bottle with colorful label using separate arms.",
+    "Use both arms to grasp the orange bottle and the yellow capped drink bottle together.",
+    "Grab the yellow-capped bottle for beverages and the yellow capped drink bottle at the same time.",
+    "Take the orange bottle with bold labeling and the black bottle together, one per arm.",
+    "Use separate arms to lift the bottle with yellow cap and the medium black bottle with printed label.",
+    "Hold both the smooth orange cylindrical bottle and the black cylindrical bottle with ridges, one in each arm."
+  ],
+  "unseen": [
+    "Pick up both the medium plastic bottle and the hand-sized bottle with ridged bottom together.",
+    "Pick up the plastic orange bottle with rounded base and the plastic bottle with blue label in parallel.",
+    "Grasp the medium plastic bottle and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the medium plastic bottle and the other for the bottle with ridges near base.",
+    "Lift the medium bottle for liquids and the plastic bottle with blue label simultaneously with separate arms.",
+    "Grab the medium plastic bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Raise both different bottles, the medium bottle for liquids and the plastic bottle with blue label, together.",
+    "Lift the medium plastic bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the medium bottle for liquids and the hand-sized bottle with ridged bottom.",
+    "Take hold of the medium bottle for liquids and the plastic bottle with blue label at once.",
+    "Pick up both the medium plastic bottle and the plastic bottle with blue label together.",
+    "Pick up the plastic orange bottle with rounded base and the bottle with ridges near base in parallel.",
+    "Grasp the medium plastic bottle and the plastic bottle with blue label simultaneously.",
+    "Use one arm for the medium plastic bottle and the other for the plastic bottle with blue label.",
+    "Lift the medium bottle for liquids and the plastic bottle with blue label simultaneously with separate arms.",
+    "Grab the plastic orange bottle with rounded base and the plastic bottle with blue label at the same time.",
+    "Raise both different bottles, the medium bottle for liquids and the hand-sized bottle with ridged bottom, together.",
+    "Lift the plastic orange bottle with rounded base as the other arm lifts the bottle with ridges near base.",
+    "Use each arm to grab one of the plastic orange bottle with rounded base and the plastic bottle with blue label.",
+    "Take hold of the plastic orange bottle with rounded base and the plastic bottle with blue label at once.",
+    "Pick up both the medium plastic bottle and the hand-sized bottle with ridged bottom together.",
+    "Pick up the medium bottle for liquids and the plastic bottle with blue label in parallel.",
+    "Grasp the medium bottle for liquids and the plastic bottle with blue label simultaneously.",
+    "Use one arm for the plastic orange bottle with rounded base and the other for the bottle with ridges near base.",
+    "Lift the plastic orange bottle with rounded base and the bottle with ridges near base simultaneously with separate arms.",
+    "Grab the plastic orange bottle with rounded base and the bottle with ridges near base at the same time.",
+    "Raise both different bottles, the plastic orange bottle with rounded base and the plastic bottle with blue label, together.",
+    "Lift the medium plastic bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the medium bottle for liquids and the bottle with ridges near base.",
+    "Take hold of the medium plastic bottle and the plastic bottle with blue label at once.",
+    "Pick up both the medium bottle for liquids and the plastic bottle with blue label together.",
+    "Pick up the medium plastic bottle and the plastic bottle with blue label in parallel.",
+    "Grasp the plastic orange bottle with rounded base and the bottle with ridges near base simultaneously.",
+    "Use one arm for the medium plastic bottle and the other for the hand-sized bottle with ridged bottom.",
+    "Lift the plastic orange bottle with rounded base and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Grab the plastic orange bottle with rounded base and the plastic bottle with blue label at the same time.",
+    "Raise both different bottles, the medium plastic bottle and the bottle with ridges near base, together.",
+    "Lift the medium bottle for liquids as the other arm lifts the plastic bottle with blue label.",
+    "Use each arm to grab one of the plastic orange bottle with rounded base and the plastic bottle with blue label.",
+    "Take hold of the medium bottle for liquids and the plastic bottle with blue label at once.",
+    "Pick up both the plastic orange bottle with rounded base and the plastic bottle with blue label together.",
+    "Pick up the plastic orange bottle with rounded base and the hand-sized bottle with ridged bottom in parallel.",
+    "Grasp the medium bottle for liquids and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the medium bottle for liquids and the other for the plastic bottle with blue label.",
+    "Lift the medium plastic bottle and the bottle with ridges near base simultaneously with separate arms.",
+    "Grab the plastic orange bottle with rounded base and the bottle with ridges near base at the same time.",
+    "Raise both different bottles, the plastic orange bottle with rounded base and the hand-sized bottle with ridged bottom, together.",
+    "Lift the plastic orange bottle with rounded base as the other arm lifts the plastic bottle with blue label.",
+    "Use each arm to grab one of the medium bottle for liquids and the bottle with ridges near base.",
+    "Take hold of the medium plastic bottle and the bottle with ridges near base at once.",
+    "Pick up both the plastic orange bottle with rounded base and the bottle with ridges near base together.",
+    "Pick up the medium plastic bottle and the bottle with ridges near base in parallel.",
+    "Grasp the plastic orange bottle with rounded base and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the plastic orange bottle with rounded base and the other for the hand-sized bottle with ridged bottom.",
+    "Lift the medium plastic bottle and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Grab the plastic orange bottle with rounded base and the bottle with ridges near base at the same time.",
+    "Raise both different bottles, the medium plastic bottle and the plastic bottle with blue label, together.",
+    "Lift the plastic orange bottle with rounded base as the other arm lifts the plastic bottle with blue label.",
+    "Use each arm to grab one of the medium plastic bottle and the bottle with ridges near base.",
+    "Take hold of the medium plastic bottle and the hand-sized bottle with ridged bottom at once.",
+    "Pick up both the medium bottle for liquids and the plastic bottle with blue label together.",
+    "Pick up the medium plastic bottle and the plastic bottle with blue label in parallel.",
+    "Grasp the medium bottle for liquids and the bottle with ridges near base simultaneously.",
+    "Use one arm for the medium plastic bottle and the other for the plastic bottle with blue label.",
+    "Lift the medium plastic bottle and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Grab the medium bottle for liquids and the bottle with ridges near base at the same time.",
+    "Raise both different bottles, the medium bottle for liquids and the bottle with ridges near base, together.",
+    "Lift the medium bottle for liquids as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the plastic orange bottle with rounded base and the hand-sized bottle with ridged bottom.",
+    "Take hold of the plastic orange bottle with rounded base and the plastic bottle with blue label at once.",
+    "Pick up both the medium bottle for liquids and the hand-sized bottle with ridged bottom together.",
+    "Pick up the medium plastic bottle and the hand-sized bottle with ridged bottom in parallel.",
+    "Grasp the plastic orange bottle with rounded base and the plastic bottle with blue label simultaneously.",
+    "Use one arm for the medium bottle for liquids and the other for the hand-sized bottle with ridged bottom.",
+    "Lift the medium plastic bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Grab the plastic orange bottle with rounded base and the plastic bottle with blue label at the same time.",
+    "Raise both different bottles, the medium plastic bottle and the bottle with ridges near base, together.",
+    "Lift the medium bottle for liquids as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the medium plastic bottle and the plastic bottle with blue label.",
+    "Take hold of the medium plastic bottle and the bottle with ridges near base at once.",
+    "Pick up both the plastic orange bottle with rounded base and the bottle with ridges near base together.",
+    "Pick up the plastic orange bottle with rounded base and the plastic bottle with blue label in parallel.",
+    "Grasp the medium bottle for liquids and the bottle with ridges near base simultaneously.",
+    "Use one arm for the medium bottle for liquids and the other for the bottle with ridges near base.",
+    "Lift the plastic orange bottle with rounded base and the bottle with ridges near base simultaneously with separate arms.",
+    "Grab the plastic orange bottle with rounded base and the plastic bottle with blue label at the same time.",
+    "Raise both different bottles, the plastic orange bottle with rounded base and the bottle with ridges near base, together.",
+    "Lift the medium plastic bottle as the other arm lifts the plastic bottle with blue label.",
+    "Use each arm to grab one of the plastic orange bottle with rounded base and the plastic bottle with blue label.",
+    "Take hold of the medium bottle for liquids and the plastic bottle with blue label at once.",
+    "Pick up both the medium plastic bottle and the plastic bottle with blue label together.",
+    "Pick up the medium plastic bottle and the bottle with ridges near base in parallel.",
+    "Grasp the plastic orange bottle with rounded base and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the plastic orange bottle with rounded base and the other for the hand-sized bottle with ridged bottom.",
+    "Lift the medium bottle for liquids and the plastic bottle with blue label simultaneously with separate arms.",
+    "Grab the medium plastic bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Raise both different bottles, the medium plastic bottle and the plastic bottle with blue label, together.",
+    "Lift the plastic orange bottle with rounded base as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the medium bottle for liquids and the bottle with ridges near base.",
+    "Take hold of the medium bottle for liquids and the hand-sized bottle with ridged bottom at once."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000012.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..95418ac7213589bdf2c229bf888f836bc9814b37
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000012.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth plastic bottle and the bottle with red cap together with both arms.",
+    "Catch the cylindrical orange and white bottle and the plastic bottle together.",
+    "Assign one arm to the medium orange bottle and one to the plastic bottle with bright red color.",
+    "Raise both bottles at once: the plastic bottle and the red bottle.",
+    "Use both arms simultaneously for the drinking bottle with yellow label and the red bottle.",
+    "Grasp the different bottles the medium bottle with orange lid and the yellow text bottle simultaneously.",
+    "Grab both bottles in parallel, the bottle with orange cap and the plastic bottle.",
+    "Use both arms to grasp the yellow label bottle and the plastic bottle together.",
+    "Each arm should grab one bottle: the medium bottle with orange lid and the plastic bottle.",
+    "Reach for the medium bottle with orange lid and the medium-size plastic bottle with both arms at once.",
+    "Lift both different bottles, the smooth plastic bottle and the red bottle with screw cap, together.",
+    "Use one arm for the orange bottle and the other for the plastic bottle.",
+    "Grab the bottle with orange cap and the plastic bottle at the same time.",
+    "Pick the medium bottle with orange lid and the red bottle with white bottom text up in parallel.",
+    "Pick up the pair the white and orange plastic bottle and the bottle with red cap together.",
+    "Hold both the drinking bottle with yellow label and the red bottle with narrow neck, one in each arm.",
+    "Pick up both the plastic bottle and the red bottle with screw cap using separate arms.",
+    "Hold the drinking bottle with yellow label in one arm and the yellow text bottle in the other.",
+    "Use each arm to secure one of the orange and white bottle with cap and the plastic bottle with bright red color.",
+    "Use separate arms to lift the plastic bottle and the bottle with red cap.",
+    "Grasp the medium orange bottle as the other arm grasps the bottle with red cap.",
+    "Take the plastic bottle and the handheld plastic bottle together, one per arm.",
+    "Raise the medium orange bottle with one arm and the plastic bottle with the other.",
+    "Pick the smooth plastic bottle while the other arm picks the red bottle with curved grooves.",
+    "Take hold of the smooth plastic bottle and the plastic bottle at once.",
+    "Raise the medium orange bottle and the medium-size plastic bottle at the same time.",
+    "Simultaneously grasp and lift the bottle with orange cap and the yellow text bottle.",
+    "Lift the yellow label bottle and the red bottle with white bottom text in one synchronized motion.",
+    "Secure both the plastic bottle and the red bottle with narrow neck simultaneously.",
+    "Pick up the yellow label bottle and the medium-size plastic bottle simultaneously.",
+    "Lift the yellow label bottle and the plastic bottle with bright red color together with both arms.",
+    "Catch the cylindrical orange and white bottle and the red bottle with white bottom text together.",
+    "Assign one arm to the yellow label bottle and one to the plastic bottle.",
+    "Raise both bottles at once: the drinking bottle with yellow label and the red bottle.",
+    "Use both arms simultaneously for the orange bottle and the bottle with red cap.",
+    "Grasp the different bottles the bottle with orange cap and the red bottle with curved grooves simultaneously.",
+    "Grab both bottles in parallel, the smooth plastic bottle and the red bottle.",
+    "Use both arms to grasp the drinking bottle with yellow label and the plastic bottle with bright red color together.",
+    "Each arm should grab one bottle: the drinking bottle with yellow label and the medium-size plastic bottle.",
+    "Reach for the cylindrical orange and white bottle and the red bottle with curved grooves with both arms at once.",
+    "Lift both different bottles, the bottle with orange cap and the red bottle with curved grooves, together.",
+    "Use one arm for the bottle with ribbed orange bottom and the other for the smooth red cylindrical bottle.",
+    "Grab the orange bottle and the red bottle with screw cap at the same time.",
+    "Pick the drinking bottle with yellow label and the red bottle with curved grooves up in parallel.",
+    "Pick up the pair the white and orange plastic bottle and the plastic bottle together.",
+    "Hold both the orange bottle and the medium-size plastic bottle, one in each arm.",
+    "Pick up both the medium orange bottle and the red bottle with screw cap using separate arms.",
+    "Hold the yellow label bottle in one arm and the handheld plastic bottle in the other.",
+    "Use each arm to secure one of the white and orange plastic bottle and the handheld plastic bottle.",
+    "Use separate arms to lift the yellow label bottle and the medium-size plastic bottle.",
+    "Grasp the orange bottle as the other arm grasps the red bottle with screw cap.",
+    "Take the smooth plastic bottle and the plastic bottle together, one per arm.",
+    "Raise the smooth plastic bottle with one arm and the bottle with red cap with the other.",
+    "Pick the bottle with ribbed orange bottom while the other arm picks the red bottle with curved grooves.",
+    "Take hold of the medium bottle with orange lid and the red bottle with screw cap at once.",
+    "Raise the medium orange bottle and the red bottle with curved grooves at the same time.",
+    "Simultaneously grasp and lift the orange bottle and the yellow text bottle.",
+    "Lift the cylindrical orange and white bottle and the red bottle with white bottom text in one synchronized motion.",
+    "Secure both the orange and white bottle with cap and the yellow text bottle simultaneously.",
+    "Pick up the drinking bottle with yellow label and the red bottle simultaneously.",
+    "Lift the orange and white bottle with cap and the plastic bottle with bright red color together with both arms.",
+    "Catch the smooth plastic bottle and the red bottle together.",
+    "Assign one arm to the cylindrical orange and white bottle and one to the red bottle with screw cap.",
+    "Raise both bottles at once: the bottle with orange cap and the yellow text bottle.",
+    "Use both arms simultaneously for the plastic bottle and the red bottle with curved grooves.",
+    "Grasp the different bottles the orange bottle and the bottle with red cap simultaneously.",
+    "Grab both bottles in parallel, the orange and white bottle with cap and the yellow text bottle.",
+    "Use both arms to grasp the cylindrical orange and white bottle and the yellow text bottle together.",
+    "Each arm should grab one bottle: the orange bottle and the red bottle with narrow neck.",
+    "Reach for the yellow label bottle and the red bottle with screw cap with both arms at once.",
+    "Lift both different bottles, the smooth plastic bottle and the medium-size plastic bottle, together.",
+    "Use one arm for the orange and white bottle with cap and the other for the red bottle with screw cap.",
+    "Grab the orange bottle and the red bottle with curved grooves at the same time.",
+    "Pick the medium bottle with orange lid and the yellow text bottle up in parallel.",
+    "Pick up the pair the bottle with orange cap and the red bottle with screw cap together.",
+    "Hold both the yellow label bottle and the red bottle with white bottom text, one in each arm.",
+    "Pick up both the smooth plastic bottle and the medium-size plastic bottle using separate arms.",
+    "Hold the bottle with ribbed orange bottom in one arm and the bottle with red cap in the other.",
+    "Use each arm to secure one of the plastic bottle and the red bottle with white bottom text.",
+    "Use separate arms to lift the bottle with orange cap and the red bottle with curved grooves.",
+    "Grasp the medium orange bottle as the other arm grasps the handheld plastic bottle.",
+    "Take the drinking bottle with yellow label and the red bottle with screw cap together, one per arm.",
+    "Raise the orange bottle with one arm and the red bottle with curved grooves with the other.",
+    "Pick the drinking bottle with yellow label while the other arm picks the plastic bottle.",
+    "Take hold of the plastic bottle and the red bottle with white bottom text at once.",
+    "Raise the yellow label bottle and the medium-size plastic bottle at the same time.",
+    "Simultaneously grasp and lift the smooth plastic bottle and the red bottle with curved grooves.",
+    "Lift the medium bottle with orange lid and the handheld plastic bottle in one synchronized motion.",
+    "Secure both the orange and white bottle with cap and the handheld plastic bottle simultaneously.",
+    "Pick up the white and orange plastic bottle and the red bottle with narrow neck simultaneously.",
+    "Lift the smooth plastic bottle and the red bottle with curved grooves together with both arms.",
+    "Catch the bottle with ribbed orange bottom and the medium-size plastic bottle together.",
+    "Assign one arm to the white and orange plastic bottle and one to the red bottle with narrow neck.",
+    "Raise both bottles at once: the orange bottle and the red bottle with white bottom text.",
+    "Use both arms simultaneously for the bottle with orange cap and the plastic bottle.",
+    "Grasp the different bottles the plastic bottle and the red bottle with curved grooves simultaneously.",
+    "Grab both bottles in parallel, the plastic bottle and the smooth red cylindrical bottle.",
+    "Use both arms to grasp the bottle with orange cap and the red bottle with white bottom text together.",
+    "Each arm should grab one bottle: the smooth plastic bottle and the plastic bottle with bright red color.",
+    "Reach for the bottle with orange cap and the plastic bottle with bright red color with both arms at once."
+  ],
+  "unseen": [
+    "Take hold of the curvy orange bottle with white section and the shiny red bottle at once.",
+    "Pick up both the bottle with yellow sticker label and the shiny red bottle together.",
+    "Raise both different bottles, the curvy orange bottle with white section and the shiny red bottle, together.",
+    "Use one arm for the curvy orange bottle with white section and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the bottle with curved body and the shiny red bottle.",
+    "Lift the bottle with curved body and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Grab the bottle with yellow sticker label and the shiny red bottle at the same time.",
+    "Grasp the curvy orange bottle with white section and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up the bottle with yellow sticker label and the shiny red bottle in parallel.",
+    "Take hold of the bottle with curved body and the bottle with white and yellow label at once.",
+    "Pick up both the bottle with curved body and the bottle with white and yellow label together.",
+    "Raise both different bottles, the bottle with curved body and the shiny red bottle, together.",
+    "Use one arm for the bottle with curved body and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the bottle with yellow Chinese characters.",
+    "Lift the curvy orange bottle with white section and the shiny red bottle simultaneously with separate arms.",
+    "Grab the curvy orange bottle with white section and the shiny red bottle at the same time.",
+    "Grasp the bottle with curved body and the shiny red bottle simultaneously.",
+    "Lift the bottle with curved body as the other arm lifts the bottle with white and yellow label.",
+    "Pick up the bottle with curved body and the bottle with white and yellow label in parallel.",
+    "Take hold of the bottle with yellow sticker label and the shiny red bottle at once.",
+    "Pick up both the bottle with yellow sticker label and the bottle with white and yellow label together.",
+    "Raise both different bottles, the bottle with yellow sticker label and the bottle with yellow Chinese characters, together.",
+    "Use one arm for the curvy orange bottle with white section and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the bottle with white and yellow label.",
+    "Lift the curvy orange bottle with white section and the bottle with white and yellow label simultaneously with separate arms.",
+    "Grab the curvy orange bottle with white section and the bottle with white and yellow label at the same time.",
+    "Grasp the bottle with yellow sticker label and the shiny red bottle simultaneously.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the shiny red bottle.",
+    "Pick up the bottle with curved body and the shiny red bottle in parallel.",
+    "Take hold of the bottle with curved body and the bottle with yellow Chinese characters at once.",
+    "Pick up both the bottle with curved body and the bottle with white and yellow label together.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with yellow Chinese characters, together.",
+    "Use one arm for the curvy orange bottle with white section and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the shiny red bottle.",
+    "Lift the bottle with curved body and the shiny red bottle simultaneously with separate arms.",
+    "Grab the curvy orange bottle with white section and the bottle with white and yellow label at the same time.",
+    "Grasp the bottle with curved body and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up the bottle with curved body and the bottle with white and yellow label in parallel.",
+    "Take hold of the bottle with yellow sticker label and the shiny red bottle at once.",
+    "Pick up both the bottle with curved body and the shiny red bottle together.",
+    "Raise both different bottles, the bottle with yellow sticker label and the bottle with white and yellow label, together.",
+    "Use one arm for the curvy orange bottle with white section and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the bottle with yellow Chinese characters.",
+    "Lift the bottle with yellow sticker label and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Grab the bottle with curved body and the bottle with yellow Chinese characters at the same time.",
+    "Grasp the curvy orange bottle with white section and the shiny red bottle simultaneously.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the shiny red bottle.",
+    "Pick up the curvy orange bottle with white section and the shiny red bottle in parallel.",
+    "Take hold of the bottle with curved body and the bottle with white and yellow label at once.",
+    "Pick up both the curvy orange bottle with white section and the bottle with white and yellow label together.",
+    "Raise both different bottles, the bottle with yellow sticker label and the bottle with white and yellow label, together.",
+    "Use one arm for the bottle with curved body and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the bottle with curved body and the bottle with yellow Chinese characters.",
+    "Lift the bottle with curved body and the bottle with white and yellow label simultaneously with separate arms.",
+    "Grab the bottle with yellow sticker label and the shiny red bottle at the same time.",
+    "Grasp the bottle with curved body and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with curved body as the other arm lifts the shiny red bottle.",
+    "Pick up the curvy orange bottle with white section and the bottle with yellow Chinese characters in parallel.",
+    "Take hold of the bottle with curved body and the bottle with yellow Chinese characters at once.",
+    "Pick up both the bottle with yellow sticker label and the shiny red bottle together.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with white and yellow label, together.",
+    "Use one arm for the bottle with curved body and the other for the bottle with yellow Chinese characters.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the bottle with yellow Chinese characters.",
+    "Lift the bottle with curved body and the bottle with white and yellow label simultaneously with separate arms.",
+    "Grab the bottle with curved body and the bottle with yellow Chinese characters at the same time.",
+    "Grasp the bottle with curved body and the shiny red bottle simultaneously.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up the bottle with yellow sticker label and the bottle with yellow Chinese characters in parallel.",
+    "Take hold of the curvy orange bottle with white section and the bottle with yellow Chinese characters at once.",
+    "Pick up both the bottle with yellow sticker label and the shiny red bottle together.",
+    "Raise both different bottles, the bottle with yellow sticker label and the bottle with white and yellow label, together.",
+    "Use one arm for the curvy orange bottle with white section and the other for the shiny red bottle.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the shiny red bottle.",
+    "Lift the curvy orange bottle with white section and the bottle with white and yellow label simultaneously with separate arms.",
+    "Grab the bottle with curved body and the bottle with yellow Chinese characters at the same time.",
+    "Grasp the bottle with curved body and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with white and yellow label.",
+    "Pick up the bottle with yellow sticker label and the bottle with yellow Chinese characters in parallel.",
+    "Take hold of the bottle with curved body and the bottle with white and yellow label at once.",
+    "Pick up both the curvy orange bottle with white section and the bottle with white and yellow label together.",
+    "Raise both different bottles, the curvy orange bottle with white section and the shiny red bottle, together.",
+    "Use one arm for the curvy orange bottle with white section and the other for the bottle with yellow Chinese characters.",
+    "Use each arm to grab one of the bottle with curved body and the bottle with yellow Chinese characters.",
+    "Lift the bottle with yellow sticker label and the shiny red bottle simultaneously with separate arms.",
+    "Grab the bottle with yellow sticker label and the bottle with white and yellow label at the same time.",
+    "Grasp the bottle with curved body and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with curved body as the other arm lifts the bottle with white and yellow label.",
+    "Pick up the bottle with yellow sticker label and the bottle with white and yellow label in parallel.",
+    "Take hold of the curvy orange bottle with white section and the bottle with white and yellow label at once.",
+    "Pick up both the bottle with yellow sticker label and the bottle with yellow Chinese characters together.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with yellow Chinese characters, together.",
+    "Use one arm for the curvy orange bottle with white section and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the bottle with curved body and the bottle with yellow Chinese characters.",
+    "Lift the bottle with yellow sticker label and the shiny red bottle simultaneously with separate arms.",
+    "Grab the bottle with curved body and the bottle with white and yellow label at the same time.",
+    "Grasp the bottle with yellow sticker label and the bottle with yellow Chinese characters simultaneously.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up the bottle with yellow sticker label and the bottle with yellow Chinese characters in parallel."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000013.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..b49fa35e5b6cb74c7124021eaaf44108ca3f6cc5
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000013.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Each arm should grab one bottle: the hand-sized soda bottle and the smooth red cylindrical bottle.",
+    "Assign one arm to the dark drink bottle with logo and one to the red bottle.",
+    "Raise the smooth bottle with red lid and the red bottle with white bottom text at the same time.",
+    "Pick the hand-sized soda bottle and the handheld plastic bottle up in parallel.",
+    "Grasp the different bottles the smooth bottle with red lid and the plastic bottle simultaneously.",
+    "Reach for the hand-sized soda bottle and the red bottle with white bottom text with both arms at once.",
+    "Grasp the hand-sized soda bottle as the other arm grasps the plastic bottle.",
+    "Hold the long thin bottle in one arm and the red bottle with narrow neck in the other.",
+    "Lift the smooth bottle with red lid and the medium-size plastic bottle together with both arms.",
+    "Use one arm for the Coca-Cola bottle and the other for the plastic bottle.",
+    "Grab the long thin bottle and the smooth red cylindrical bottle at the same time.",
+    "Pick up both the dark drink bottle with logo and the handheld plastic bottle using separate arms.",
+    "Take the red-capped bottle and the red bottle with curved grooves together, one per arm.",
+    "Use each arm to secure one of the smooth bottle with red lid and the handheld plastic bottle.",
+    "Take hold of the hand-sized soda bottle and the red bottle with narrow neck at once.",
+    "Secure both the smooth bottle with red lid and the medium-size plastic bottle simultaneously.",
+    "Simultaneously grasp and lift the hand-sized soda bottle and the plastic bottle with bright red color.",
+    "Catch the smooth bottle with red lid and the red bottle with screw cap together.",
+    "Raise the brown bottle with red label with one arm and the plastic bottle with the other.",
+    "Hold both the dark drink bottle with logo and the plastic bottle with bright red color, one in each arm.",
+    "Use separate arms to lift the red-capped bottle and the red bottle.",
+    "Pick up the pair the narrow-necked bottle and the smooth red cylindrical bottle together.",
+    "Use both arms simultaneously for the plastic drink bottle and the smooth red cylindrical bottle.",
+    "Grab both bottles in parallel, the hand-sized soda bottle and the medium-size plastic bottle.",
+    "Raise both bottles at once: the long thin bottle and the red bottle with white bottom text.",
+    "Pick up the red-capped bottle and the handheld plastic bottle simultaneously.",
+    "Pick the red-capped bottle while the other arm picks the plastic bottle with bright red color.",
+    "Lift the smooth bottle with red lid and the red bottle in one synchronized motion.",
+    "Lift both different bottles, the bottle with white neck and red top and the plastic bottle, together.",
+    "Use both arms to grasp the bottle with white neck and red top and the smooth red cylindrical bottle together.",
+    "Each arm should grab one bottle: the bottle with white neck and red top and the medium-size plastic bottle.",
+    "Assign one arm to the bottle with white neck and red top and one to the bottle with red cap.",
+    "Raise the smooth bottle with red lid and the red bottle at the same time.",
+    "Pick the bottle with ridges on bottom and the red bottle with narrow neck up in parallel.",
+    "Grasp the different bottles the dark drink bottle with logo and the plastic bottle with bright red color simultaneously.",
+    "Reach for the medium dark brown bottle and the plastic bottle with bright red color with both arms at once.",
+    "Grasp the Coca-Cola bottle as the other arm grasps the plastic bottle with bright red color.",
+    "Hold the narrow-necked bottle in one arm and the red bottle with narrow neck in the other.",
+    "Lift the long thin bottle and the yellow text bottle together with both arms.",
+    "Use one arm for the bottle with ridges on bottom and the other for the red bottle with curved grooves.",
+    "Grab the bottle with white neck and red top and the red bottle with screw cap at the same time.",
+    "Pick up both the Coca-Cola bottle and the plastic bottle using separate arms.",
+    "Take the narrow-necked bottle and the handheld plastic bottle together, one per arm.",
+    "Use each arm to secure one of the smooth bottle with red lid and the bottle with red cap.",
+    "Take hold of the red-capped bottle and the red bottle with white bottom text at once.",
+    "Secure both the bottle with ridges on bottom and the red bottle with white bottom text simultaneously.",
+    "Simultaneously grasp and lift the dark drink bottle with logo and the red bottle.",
+    "Catch the long thin bottle and the yellow text bottle together.",
+    "Raise the hand-sized soda bottle with one arm and the red bottle with screw cap with the other.",
+    "Hold both the medium dark brown bottle and the red bottle with white bottom text, one in each arm.",
+    "Use separate arms to lift the red-capped bottle and the handheld plastic bottle.",
+    "Pick up the pair the smooth bottle with red lid and the red bottle with curved grooves together.",
+    "Use both arms simultaneously for the medium dark brown bottle and the medium-size plastic bottle.",
+    "Grab both bottles in parallel, the bottle with white neck and red top and the bottle with red cap.",
+    "Raise both bottles at once: the red-capped bottle and the red bottle.",
+    "Pick up the bottle with ridges on bottom and the handheld plastic bottle simultaneously.",
+    "Pick the Coca-Cola bottle while the other arm picks the handheld plastic bottle.",
+    "Lift the narrow-necked bottle and the plastic bottle in one synchronized motion.",
+    "Lift both different bottles, the bottle with white neck and red top and the bottle with red cap, together.",
+    "Use both arms to grasp the hand-sized soda bottle and the yellow text bottle together.",
+    "Each arm should grab one bottle: the bottle with white neck and red top and the bottle with red cap.",
+    "Assign one arm to the bottle with white neck and red top and one to the red bottle with screw cap.",
+    "Raise the medium dark brown bottle and the handheld plastic bottle at the same time.",
+    "Pick the dark drink bottle with logo and the smooth red cylindrical bottle up in parallel.",
+    "Grasp the different bottles the Coca-Cola bottle and the smooth red cylindrical bottle simultaneously.",
+    "Reach for the bottle with white neck and red top and the red bottle with white bottom text with both arms at once.",
+    "Grasp the plastic drink bottle as the other arm grasps the handheld plastic bottle.",
+    "Hold the smooth bottle with red lid in one arm and the handheld plastic bottle in the other.",
+    "Lift the Coca-Cola bottle and the red bottle with screw cap together with both arms.",
+    "Use one arm for the Coca-Cola bottle and the other for the smooth red cylindrical bottle.",
+    "Grab the Coca-Cola bottle and the red bottle at the same time.",
+    "Pick up both the brown bottle with red label and the handheld plastic bottle using separate arms.",
+    "Take the plastic drink bottle and the handheld plastic bottle together, one per arm.",
+    "Use each arm to secure one of the Coca-Cola bottle and the red bottle with curved grooves.",
+    "Take hold of the bottle with ridges on bottom and the red bottle with screw cap at once.",
+    "Secure both the bottle with ridges on bottom and the red bottle simultaneously.",
+    "Simultaneously grasp and lift the narrow-necked bottle and the yellow text bottle.",
+    "Catch the brown bottle with red label and the plastic bottle together.",
+    "Raise the bottle with white neck and red top with one arm and the plastic bottle with bright red color with the other.",
+    "Hold both the smooth bottle with red lid and the red bottle with narrow neck, one in each arm.",
+    "Use separate arms to lift the medium dark brown bottle and the plastic bottle with bright red color.",
+    "Pick up the pair the smooth bottle with red lid and the yellow text bottle together.",
+    "Use both arms simultaneously for the long thin bottle and the red bottle with curved grooves.",
+    "Grab both bottles in parallel, the medium dark brown bottle and the red bottle with white bottom text.",
+    "Raise both bottles at once: the smooth bottle with red lid and the red bottle with curved grooves.",
+    "Pick up the bottle with white neck and red top and the red bottle with curved grooves simultaneously.",
+    "Pick the bottle with white neck and red top while the other arm picks the handheld plastic bottle.",
+    "Lift the Coca-Cola bottle and the red bottle in one synchronized motion.",
+    "Lift both different bottles, the plastic drink bottle and the plastic bottle, together.",
+    "Use both arms to grasp the plastic drink bottle and the red bottle with white bottom text together.",
+    "Each arm should grab one bottle: the Coca-Cola bottle and the smooth red cylindrical bottle.",
+    "Assign one arm to the narrow-necked bottle and one to the red bottle with narrow neck.",
+    "Raise the hand-sized soda bottle and the smooth red cylindrical bottle at the same time.",
+    "Pick the bottle with white neck and red top and the red bottle with screw cap up in parallel.",
+    "Grasp the different bottles the dark drink bottle with logo and the red bottle with curved grooves simultaneously.",
+    "Reach for the bottle with ridges on bottom and the red bottle with curved grooves with both arms at once.",
+    "Grasp the plastic drink bottle as the other arm grasps the yellow text bottle.",
+    "Hold the plastic drink bottle in one arm and the medium-size plastic bottle in the other.",
+    "Lift the brown bottle with red label and the red bottle with screw cap together with both arms.",
+    "Use one arm for the Coca-Cola bottle and the other for the red bottle with screw cap."
+  ],
+  "unseen": [
+    "Pick up both the brown bottle and the bottle with white and yellow label together.",
+    "Raise both different bottles, the bottle with red screw cap and the bottle with white and yellow label, together.",
+    "Take hold of the brown bottle and the shiny red bottle at once.",
+    "Lift the brown bottle as the other arm lifts the bottle with white and yellow label.",
+    "Grab the bottle with red screw cap and the bottle with white and yellow label at the same time.",
+    "Lift the brown bottle and the bottle with white and yellow label simultaneously with separate arms.",
+    "Pick up the plastic soda bottle and the shiny red bottle in parallel.",
+    "Use one arm for the plastic soda bottle and the other for the bottle with yellow Chinese characters.",
+    "Use each arm to grab one of the plastic soda bottle and the bottle with white and yellow label.",
+    "Grasp the bottle with red screw cap and the shiny red bottle simultaneously.",
+    "Pick up both the brown bottle and the bottle with white and yellow label together.",
+    "Raise both different bottles, the plastic soda bottle and the shiny red bottle, together.",
+    "Take hold of the plastic soda bottle and the bottle with yellow Chinese characters at once.",
+    "Lift the brown bottle as the other arm lifts the shiny red bottle.",
+    "Grab the bottle with red screw cap and the bottle with yellow Chinese characters at the same time.",
+    "Lift the plastic soda bottle and the bottle with white and yellow label simultaneously with separate arms.",
+    "Pick up the bottle with red screw cap and the bottle with white and yellow label in parallel.",
+    "Use one arm for the brown bottle and the other for the bottle with yellow Chinese characters.",
+    "Use each arm to grab one of the bottle with red screw cap and the bottle with white and yellow label.",
+    "Grasp the plastic soda bottle and the shiny red bottle simultaneously.",
+    "Pick up both the bottle with red screw cap and the shiny red bottle together.",
+    "Raise both different bottles, the brown bottle and the shiny red bottle, together.",
+    "Take hold of the bottle with red screw cap and the shiny red bottle at once.",
+    "Lift the plastic soda bottle as the other arm lifts the shiny red bottle.",
+    "Grab the plastic soda bottle and the bottle with yellow Chinese characters at the same time.",
+    "Lift the plastic soda bottle and the bottle with white and yellow label simultaneously with separate arms.",
+    "Pick up the bottle with red screw cap and the bottle with white and yellow label in parallel.",
+    "Use one arm for the brown bottle and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the brown bottle and the bottle with white and yellow label.",
+    "Grasp the bottle with red screw cap and the bottle with white and yellow label simultaneously.",
+    "Pick up both the plastic soda bottle and the bottle with yellow Chinese characters together.",
+    "Raise both different bottles, the brown bottle and the bottle with white and yellow label, together.",
+    "Take hold of the plastic soda bottle and the bottle with white and yellow label at once.",
+    "Lift the bottle with red screw cap as the other arm lifts the shiny red bottle.",
+    "Grab the bottle with red screw cap and the bottle with white and yellow label at the same time.",
+    "Lift the plastic soda bottle and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Pick up the plastic soda bottle and the shiny red bottle in parallel.",
+    "Use one arm for the plastic soda bottle and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the brown bottle and the bottle with yellow Chinese characters.",
+    "Grasp the plastic soda bottle and the bottle with white and yellow label simultaneously.",
+    "Pick up both the brown bottle and the bottle with white and yellow label together.",
+    "Raise both different bottles, the plastic soda bottle and the bottle with yellow Chinese characters, together.",
+    "Take hold of the bottle with red screw cap and the shiny red bottle at once.",
+    "Lift the plastic soda bottle as the other arm lifts the bottle with yellow Chinese characters.",
+    "Grab the brown bottle and the bottle with yellow Chinese characters at the same time.",
+    "Lift the plastic soda bottle and the bottle with white and yellow label simultaneously with separate arms.",
+    "Pick up the brown bottle and the shiny red bottle in parallel.",
+    "Use one arm for the bottle with red screw cap and the other for the bottle with yellow Chinese characters.",
+    "Use each arm to grab one of the bottle with red screw cap and the bottle with yellow Chinese characters.",
+    "Grasp the brown bottle and the shiny red bottle simultaneously.",
+    "Pick up both the brown bottle and the bottle with white and yellow label together.",
+    "Raise both different bottles, the bottle with red screw cap and the bottle with white and yellow label, together.",
+    "Take hold of the bottle with red screw cap and the bottle with yellow Chinese characters at once.",
+    "Lift the bottle with red screw cap as the other arm lifts the bottle with white and yellow label.",
+    "Grab the bottle with red screw cap and the shiny red bottle at the same time.",
+    "Lift the plastic soda bottle and the shiny red bottle simultaneously with separate arms.",
+    "Pick up the brown bottle and the bottle with yellow Chinese characters in parallel.",
+    "Use one arm for the brown bottle and the other for the shiny red bottle.",
+    "Use each arm to grab one of the bottle with red screw cap and the bottle with white and yellow label.",
+    "Grasp the plastic soda bottle and the shiny red bottle simultaneously.",
+    "Pick up both the bottle with red screw cap and the shiny red bottle together.",
+    "Raise both different bottles, the bottle with red screw cap and the shiny red bottle, together.",
+    "Take hold of the plastic soda bottle and the bottle with white and yellow label at once.",
+    "Lift the brown bottle as the other arm lifts the shiny red bottle.",
+    "Grab the plastic soda bottle and the bottle with white and yellow label at the same time.",
+    "Lift the bottle with red screw cap and the bottle with white and yellow label simultaneously with separate arms.",
+    "Pick up the plastic soda bottle and the shiny red bottle in parallel.",
+    "Use one arm for the brown bottle and the other for the bottle with yellow Chinese characters.",
+    "Use each arm to grab one of the bottle with red screw cap and the bottle with white and yellow label.",
+    "Grasp the brown bottle and the bottle with white and yellow label simultaneously.",
+    "Pick up both the brown bottle and the bottle with yellow Chinese characters together.",
+    "Raise both different bottles, the brown bottle and the bottle with yellow Chinese characters, together.",
+    "Take hold of the plastic soda bottle and the shiny red bottle at once.",
+    "Lift the bottle with red screw cap as the other arm lifts the shiny red bottle.",
+    "Grab the bottle with red screw cap and the shiny red bottle at the same time.",
+    "Lift the brown bottle and the shiny red bottle simultaneously with separate arms.",
+    "Pick up the bottle with red screw cap and the shiny red bottle in parallel.",
+    "Use one arm for the bottle with red screw cap and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the brown bottle and the bottle with white and yellow label.",
+    "Grasp the plastic soda bottle and the bottle with white and yellow label simultaneously.",
+    "Pick up both the brown bottle and the bottle with white and yellow label together.",
+    "Raise both different bottles, the brown bottle and the bottle with white and yellow label, together.",
+    "Take hold of the brown bottle and the shiny red bottle at once.",
+    "Lift the plastic soda bottle as the other arm lifts the bottle with white and yellow label.",
+    "Grab the bottle with red screw cap and the bottle with yellow Chinese characters at the same time.",
+    "Lift the brown bottle and the shiny red bottle simultaneously with separate arms.",
+    "Pick up the bottle with red screw cap and the shiny red bottle in parallel.",
+    "Use one arm for the bottle with red screw cap and the other for the bottle with yellow Chinese characters.",
+    "Use each arm to grab one of the bottle with red screw cap and the shiny red bottle.",
+    "Grasp the bottle with red screw cap and the bottle with white and yellow label simultaneously.",
+    "Pick up both the bottle with red screw cap and the bottle with white and yellow label together.",
+    "Raise both different bottles, the bottle with red screw cap and the shiny red bottle, together.",
+    "Take hold of the plastic soda bottle and the bottle with white and yellow label at once.",
+    "Lift the plastic soda bottle as the other arm lifts the bottle with white and yellow label.",
+    "Grab the brown bottle and the shiny red bottle at the same time.",
+    "Lift the bottle with red screw cap and the shiny red bottle simultaneously with separate arms.",
+    "Pick up the bottle with red screw cap and the shiny red bottle in parallel.",
+    "Use one arm for the brown bottle and the other for the bottle with white and yellow label.",
+    "Use each arm to grab one of the brown bottle and the shiny red bottle.",
+    "Grasp the bottle with red screw cap and the bottle with white and yellow label simultaneously."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000014.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..79166885dd00a1cbe32e18c9ac4c1ea8f347b636
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000014.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the plastic bottle in one arm and the bottle with brown body and white top in the other.",
+    "Catch the blue bottle and the bottle with dark brown color together.",
+    "Raise the bottle with blue cap with one arm and the medium plastic bottle with the other.",
+    "Pick up the pair the cylindrical bottle and the cylindrical bottle with narrow neck together.",
+    "Secure both the white and blue bottle and the plastic bottle with printed label simultaneously.",
+    "Grasp the different bottles the bottle for liquids and the plastic bottle for liquids simultaneously.",
+    "Grab both bottles in parallel, the white bottle with blue accents and the plastic bottle with printed label.",
+    "Pick up the plastic bottle and the handheld brown bottle with white lid simultaneously.",
+    "Reach for the medium-sized bottle and the plastic bottle with printed label with both arms at once.",
+    "Take the medium-sized bottle and the smooth brown bottle together, one per arm.",
+    "Hold both the handheld bottle and the handheld brown bottle with white lid, one in each arm.",
+    "Simultaneously grasp and lift the bottle for liquids and the white-capped brown cylindrical bottle.",
+    "Pick the bottle with blue cap while the other arm picks the bottle with brown body and white top.",
+    "Each arm should grab one bottle: the plastic bottle and the bottle with dark brown color.",
+    "Use both arms simultaneously for the cylindrical bottle and the rounded bottle with printed details.",
+    "Use one arm for the cylindrical bottle and the other for the smooth brown bottle.",
+    "Pick up both the handheld bottle and the plastic bottle for liquids using separate arms.",
+    "Assign one arm to the medium-sized bottle and one to the cylindrical bottle with narrow neck.",
+    "Raise the smooth plastic bottle and the medium bottle with smooth texture at the same time.",
+    "Pick the bottle for liquids and the bottle with brown body and white top up in parallel.",
+    "Raise both bottles at once: the cylindrical bottle and the plastic bottle for liquids.",
+    "Use both arms to grasp the smooth plastic bottle and the bottle with white cap together.",
+    "Lift the bottle for liquids and the handheld brown bottle with white lid together with both arms.",
+    "Grab the plastic bottle and the medium plastic bottle at the same time.",
+    "Take hold of the white bottle with blue accents and the bottle with white cap at once.",
+    "Use separate arms to lift the bottle with blue cap and the handheld brown bottle with white lid.",
+    "Use each arm to secure one of the handheld bottle and the medium bottle with smooth texture.",
+    "Lift the bottle with blue cap and the plastic bottle with printed label in one synchronized motion.",
+    "Lift both different bottles, the white and blue bottle and the smooth brown bottle, together.",
+    "Grasp the smooth plastic bottle as the other arm grasps the medium plastic bottle.",
+    "Hold the plastic bottle in one arm and the plastic bottle for liquids in the other.",
+    "Catch the white bottle with blue accents and the medium bottle with smooth texture together.",
+    "Raise the bottle with blue cap with one arm and the bottle with brown body and white top with the other.",
+    "Pick up the pair the plastic bottle and the plastic bottle with printed label together.",
+    "Secure both the bottle with blue cap and the medium bottle with smooth texture simultaneously.",
+    "Grasp the different bottles the handheld bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Grab both bottles in parallel, the blue bottle and the bottle with brown body and white top.",
+    "Pick up the plastic bottle and the plastic bottle for liquids simultaneously.",
+    "Reach for the blue bottle with label and the handheld brown bottle with white lid with both arms at once.",
+    "Take the plastic bottle and the rounded bottle with printed details together, one per arm.",
+    "Hold both the cylindrical bottle and the plastic bottle for liquids, one in each arm.",
+    "Simultaneously grasp and lift the blue bottle and the plastic bottle with printed label.",
+    "Pick the white bottle with blue accents while the other arm picks the rounded bottle with printed details.",
+    "Each arm should grab one bottle: the handheld bottle and the plastic bottle for liquids.",
+    "Use both arms simultaneously for the bottle with blue cap and the white-capped brown cylindrical bottle.",
+    "Use one arm for the smooth plastic bottle and the other for the bottle with dark brown color.",
+    "Pick up both the handheld bottle and the plastic bottle with printed label using separate arms.",
+    "Assign one arm to the blue bottle and one to the bottle with brown body and white top.",
+    "Raise the handheld bottle and the plastic bottle for liquids at the same time.",
+    "Pick the blue bottle and the plastic bottle for liquids up in parallel.",
+    "Raise both bottles at once: the white and blue bottle and the plastic bottle with printed label.",
+    "Use both arms to grasp the blue bottle with label and the bottle with brown body and white top together.",
+    "Lift the blue bottle with label and the bottle with dark brown color together with both arms.",
+    "Grab the medium bottle for beverages and the bottle with brown body and white top at the same time.",
+    "Take hold of the white and blue bottle and the white-capped brown cylindrical bottle at once.",
+    "Use separate arms to lift the smooth plastic bottle and the plastic bottle with printed label.",
+    "Use each arm to secure one of the cylindrical bottle and the white-capped brown cylindrical bottle.",
+    "Lift the bottle for liquids and the cylindrical bottle with narrow neck in one synchronized motion.",
+    "Lift both different bottles, the medium-sized bottle and the plastic bottle for liquids, together.",
+    "Grasp the smooth plastic bottle as the other arm grasps the bottle with brown body and white top.",
+    "Hold the smooth plastic bottle in one arm and the plastic bottle with printed label in the other.",
+    "Catch the handheld bottle and the cylindrical bottle with narrow neck together.",
+    "Raise the blue bottle with label with one arm and the handheld brown bottle with white lid with the other.",
+    "Pick up the pair the cylindrical bottle and the smooth brown bottle together.",
+    "Secure both the white bottle with blue accents and the rounded bottle with printed details simultaneously.",
+    "Grasp the different bottles the blue bottle with label and the plastic bottle for liquids simultaneously.",
+    "Grab both bottles in parallel, the blue bottle with label and the bottle with brown body and white top.",
+    "Pick up the smooth plastic bottle and the bottle with dark brown color simultaneously.",
+    "Reach for the plastic bottle and the medium plastic bottle with both arms at once.",
+    "Take the white and blue bottle and the smooth brown bottle together, one per arm.",
+    "Hold both the handheld bottle and the handheld brown bottle with white lid, one in each arm.",
+    "Simultaneously grasp and lift the white and blue bottle and the bottle with dark brown color.",
+    "Pick the cylindrical bottle while the other arm picks the medium plastic bottle.",
+    "Each arm should grab one bottle: the medium bottle for beverages and the bottle with brown body and white top.",
+    "Use both arms simultaneously for the bottle for liquids and the bottle with white cap.",
+    "Use one arm for the bottle for liquids and the other for the bottle with white cap.",
+    "Pick up both the white bottle with blue accents and the white-capped brown cylindrical bottle using separate arms.",
+    "Assign one arm to the bottle with blue cap and one to the bottle with white cap.",
+    "Raise the bottle for liquids and the smooth brown bottle at the same time.",
+    "Pick the bottle for liquids and the bottle with dark brown color up in parallel.",
+    "Raise both bottles at once: the smooth plastic bottle and the medium plastic bottle.",
+    "Use both arms to grasp the medium bottle for beverages and the medium bottle with smooth texture together.",
+    "Lift the blue bottle with label and the white-capped brown cylindrical bottle together with both arms.",
+    "Grab the smooth plastic bottle and the bottle with white cap at the same time.",
+    "Take hold of the white and blue bottle and the plastic bottle with printed label at once.",
+    "Use separate arms to lift the bottle for liquids and the handheld brown bottle with white lid.",
+    "Use each arm to secure one of the medium bottle for beverages and the bottle with white cap.",
+    "Lift the cylindrical bottle and the plastic bottle with printed label in one synchronized motion.",
+    "Lift both different bottles, the medium bottle for beverages and the plastic bottle for liquids, together.",
+    "Grasp the blue bottle as the other arm grasps the medium bottle with smooth texture.",
+    "Hold the bottle for liquids in one arm and the handheld brown bottle with white lid in the other.",
+    "Catch the smooth plastic bottle and the medium bottle with smooth texture together.",
+    "Raise the handheld bottle with one arm and the white-capped brown cylindrical bottle with the other.",
+    "Pick up the pair the medium-sized bottle and the handheld brown bottle with white lid together.",
+    "Secure both the handheld bottle and the smooth brown bottle simultaneously.",
+    "Grasp the different bottles the bottle with blue cap and the medium plastic bottle simultaneously.",
+    "Grab both bottles in parallel, the blue bottle and the bottle with white cap.",
+    "Pick up the blue bottle with label and the bottle with white cap simultaneously.",
+    "Reach for the blue bottle and the smooth brown bottle with both arms at once.",
+    "Take the bottle for liquids and the cylindrical bottle with narrow neck together, one per arm."
+  ],
+  "unseen": [
+    "Raise both different bottles, the bottle with ridged neck and the lightweight plastic brown bottle, together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the brown cylindrical bottle with label.",
+    "Lift the bottle with curved neck design and the lightweight plastic brown bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridged neck and the lightweight plastic brown bottle.",
+    "Take hold of the blue-capped plastic bottle and the lightweight plastic brown bottle at once.",
+    "Use one arm for the blue-capped plastic bottle and the other for the brown bottle.",
+    "Pick up the blue-capped plastic bottle and the lightweight plastic brown bottle in parallel.",
+    "Grasp the bottle with curved neck design and the brown bottle simultaneously.",
+    "Pick up both the bottle with ridged neck and the brown cylindrical bottle with label together.",
+    "Grab the bottle with ridged neck and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the bottle with ridged neck and the brown cylindrical bottle with label, together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the lightweight plastic brown bottle.",
+    "Lift the bottle with ridged neck and the brown cylindrical bottle with label simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridged neck and the brown cylindrical bottle with label.",
+    "Take hold of the bottle with ridged neck and the lightweight plastic brown bottle at once.",
+    "Use one arm for the bottle with curved neck design and the other for the lightweight plastic brown bottle.",
+    "Pick up the bottle with ridged neck and the brown cylindrical bottle with label in parallel.",
+    "Grasp the bottle with ridged neck and the lightweight plastic brown bottle simultaneously.",
+    "Pick up both the bottle with curved neck design and the lightweight plastic brown bottle together.",
+    "Grab the bottle with curved neck design and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the bottle with ridged neck and the brown bottle, together.",
+    "Lift the bottle with ridged neck as the other arm lifts the lightweight plastic brown bottle.",
+    "Lift the blue-capped plastic bottle and the brown cylindrical bottle with label simultaneously with separate arms.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the brown cylindrical bottle with label.",
+    "Take hold of the bottle with curved neck design and the brown cylindrical bottle with label at once.",
+    "Use one arm for the bottle with curved neck design and the other for the lightweight plastic brown bottle.",
+    "Pick up the bottle with curved neck design and the lightweight plastic brown bottle in parallel.",
+    "Grasp the bottle with ridged neck and the brown cylindrical bottle with label simultaneously.",
+    "Pick up both the blue-capped plastic bottle and the brown bottle together.",
+    "Grab the bottle with curved neck design and the brown bottle at the same time.",
+    "Raise both different bottles, the bottle with ridged neck and the brown bottle, together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the lightweight plastic brown bottle.",
+    "Lift the bottle with ridged neck and the lightweight plastic brown bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with curved neck design and the brown cylindrical bottle with label.",
+    "Take hold of the bottle with curved neck design and the lightweight plastic brown bottle at once.",
+    "Use one arm for the bottle with curved neck design and the other for the lightweight plastic brown bottle.",
+    "Pick up the blue-capped plastic bottle and the brown cylindrical bottle with label in parallel.",
+    "Grasp the blue-capped plastic bottle and the brown bottle simultaneously.",
+    "Pick up both the blue-capped plastic bottle and the lightweight plastic brown bottle together.",
+    "Grab the bottle with curved neck design and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the bottle with ridged neck and the brown cylindrical bottle with label, together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the lightweight plastic brown bottle.",
+    "Lift the bottle with curved neck design and the brown cylindrical bottle with label simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with curved neck design and the brown bottle.",
+    "Take hold of the blue-capped plastic bottle and the lightweight plastic brown bottle at once.",
+    "Use one arm for the bottle with curved neck design and the other for the lightweight plastic brown bottle.",
+    "Pick up the bottle with ridged neck and the brown bottle in parallel.",
+    "Grasp the blue-capped plastic bottle and the brown cylindrical bottle with label simultaneously.",
+    "Pick up both the bottle with curved neck design and the lightweight plastic brown bottle together.",
+    "Grab the bottle with curved neck design and the lightweight plastic brown bottle at the same time.",
+    "Raise both different bottles, the blue-capped plastic bottle and the lightweight plastic brown bottle, together.",
+    "Lift the bottle with curved neck design as the other arm lifts the brown cylindrical bottle with label.",
+    "Lift the blue-capped plastic bottle and the lightweight plastic brown bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridged neck and the brown cylindrical bottle with label.",
+    "Take hold of the bottle with curved neck design and the brown bottle at once.",
+    "Use one arm for the bottle with curved neck design and the other for the brown bottle.",
+    "Pick up the bottle with curved neck design and the brown cylindrical bottle with label in parallel.",
+    "Grasp the blue-capped plastic bottle and the brown bottle simultaneously.",
+    "Pick up both the blue-capped plastic bottle and the brown cylindrical bottle with label together.",
+    "Grab the blue-capped plastic bottle and the brown bottle at the same time.",
+    "Raise both different bottles, the bottle with ridged neck and the brown bottle, together.",
+    "Lift the bottle with curved neck design as the other arm lifts the brown bottle.",
+    "Lift the blue-capped plastic bottle and the brown bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridged neck and the brown bottle.",
+    "Take hold of the bottle with ridged neck and the lightweight plastic brown bottle at once.",
+    "Use one arm for the bottle with curved neck design and the other for the brown bottle.",
+    "Pick up the bottle with curved neck design and the brown bottle in parallel.",
+    "Grasp the bottle with curved neck design and the lightweight plastic brown bottle simultaneously.",
+    "Pick up both the bottle with ridged neck and the brown cylindrical bottle with label together.",
+    "Grab the bottle with curved neck design and the brown bottle at the same time.",
+    "Raise both different bottles, the bottle with ridged neck and the brown bottle, together.",
+    "Lift the bottle with ridged neck as the other arm lifts the brown bottle.",
+    "Lift the bottle with ridged neck and the brown bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridged neck and the brown bottle.",
+    "Take hold of the blue-capped plastic bottle and the brown bottle at once.",
+    "Use one arm for the bottle with curved neck design and the other for the brown cylindrical bottle with label.",
+    "Pick up the bottle with ridged neck and the brown cylindrical bottle with label in parallel.",
+    "Grasp the bottle with curved neck design and the brown cylindrical bottle with label simultaneously.",
+    "Pick up both the bottle with ridged neck and the brown bottle together.",
+    "Grab the bottle with ridged neck and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the blue-capped plastic bottle and the lightweight plastic brown bottle, together.",
+    "Lift the bottle with ridged neck as the other arm lifts the lightweight plastic brown bottle.",
+    "Lift the bottle with ridged neck and the brown cylindrical bottle with label simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridged neck and the brown cylindrical bottle with label.",
+    "Take hold of the blue-capped plastic bottle and the brown bottle at once.",
+    "Use one arm for the bottle with curved neck design and the other for the brown cylindrical bottle with label.",
+    "Pick up the bottle with curved neck design and the brown cylindrical bottle with label in parallel.",
+    "Grasp the bottle with ridged neck and the brown bottle simultaneously.",
+    "Pick up both the blue-capped plastic bottle and the brown cylindrical bottle with label together.",
+    "Grab the bottle with ridged neck and the brown bottle at the same time.",
+    "Raise both different bottles, the bottle with ridged neck and the lightweight plastic brown bottle, together.",
+    "Lift the bottle with ridged neck as the other arm lifts the brown cylindrical bottle with label.",
+    "Lift the bottle with ridged neck and the brown cylindrical bottle with label simultaneously with separate arms.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the brown cylindrical bottle with label.",
+    "Take hold of the bottle with curved neck design and the brown cylindrical bottle with label at once.",
+    "Use one arm for the bottle with curved neck design and the other for the brown bottle.",
+    "Pick up the bottle with curved neck design and the brown cylindrical bottle with label in parallel.",
+    "Grasp the blue-capped plastic bottle and the brown cylindrical bottle with label simultaneously.",
+    "Pick up both the bottle with curved neck design and the brown cylindrical bottle with label together.",
+    "Grab the bottle with curved neck design and the brown bottle at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000015.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..46d3981701cc0a5eaa1a5e6a1037ed9a2c798eed
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000015.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use each arm to secure one of the medium bottle with orange lid and the medium-sized bottle.",
+    "Pick up the bottle with ribbed orange bottom and the blue bottle simultaneously.",
+    "Pick the white and orange plastic bottle and the bottle with blue cap up in parallel.",
+    "Simultaneously grasp and lift the plastic bottle and the cylindrical bottle.",
+    "Use both arms to grasp the cylindrical orange and white bottle and the medium bottle for beverages together.",
+    "Catch the orange bottle and the blue bottle together.",
+    "Use one arm for the bottle with orange cap and the other for the white and blue bottle.",
+    "Grab both bottles in parallel, the medium orange bottle and the blue bottle with label.",
+    "Raise both bottles at once: the medium bottle with orange lid and the medium-sized bottle.",
+    "Raise the bottle with ribbed orange bottom and the blue bottle with label at the same time.",
+    "Take hold of the drinking bottle with yellow label and the blue bottle at once.",
+    "Hold both the white and orange plastic bottle and the handheld bottle, one in each arm.",
+    "Use both arms simultaneously for the orange bottle and the white and blue bottle.",
+    "Grab the bottle with ribbed orange bottom and the cylindrical bottle at the same time.",
+    "Secure both the medium bottle with orange lid and the cylindrical bottle simultaneously.",
+    "Each arm should grab one bottle: the bottle with orange cap and the medium-sized bottle.",
+    "Raise the smooth plastic bottle with one arm and the handheld bottle with the other.",
+    "Grasp the different bottles the orange bottle and the bottle for liquids simultaneously.",
+    "Take the yellow label bottle and the white bottle with blue accents together, one per arm.",
+    "Pick up both the bottle with orange cap and the blue bottle using separate arms.",
+    "Pick the plastic bottle while the other arm picks the bottle with blue cap.",
+    "Lift both different bottles, the orange and white bottle with cap and the medium bottle for beverages, together.",
+    "Pick up the pair the yellow label bottle and the blue bottle with label together.",
+    "Assign one arm to the smooth plastic bottle and one to the smooth plastic bottle.",
+    "Grasp the medium bottle with orange lid as the other arm grasps the blue bottle.",
+    "Lift the cylindrical orange and white bottle and the white and blue bottle in one synchronized motion.",
+    "Lift the drinking bottle with yellow label and the blue bottle with label together with both arms.",
+    "Use separate arms to lift the medium orange bottle and the plastic bottle.",
+    "Hold the bottle with ribbed orange bottom in one arm and the plastic bottle in the other.",
+    "Reach for the plastic bottle and the medium-sized bottle with both arms at once.",
+    "Use each arm to secure one of the yellow label bottle and the plastic bottle.",
+    "Pick up the medium bottle with orange lid and the handheld bottle simultaneously.",
+    "Pick the bottle with ribbed orange bottom and the medium bottle for beverages up in parallel.",
+    "Simultaneously grasp and lift the drinking bottle with yellow label and the bottle with blue cap.",
+    "Use both arms to grasp the bottle with orange cap and the smooth plastic bottle together.",
+    "Catch the white and orange plastic bottle and the medium bottle for beverages together.",
+    "Use one arm for the smooth plastic bottle and the other for the handheld bottle.",
+    "Grab both bottles in parallel, the medium bottle with orange lid and the handheld bottle.",
+    "Raise both bottles at once: the orange bottle and the blue bottle with label.",
+    "Raise the medium orange bottle and the white bottle with blue accents at the same time.",
+    "Take hold of the bottle with orange cap and the blue bottle with label at once.",
+    "Hold both the white and orange plastic bottle and the smooth plastic bottle, one in each arm.",
+    "Use both arms simultaneously for the bottle with ribbed orange bottom and the medium bottle for beverages.",
+    "Grab the white and orange plastic bottle and the bottle for liquids at the same time.",
+    "Secure both the orange and white bottle with cap and the handheld bottle simultaneously.",
+    "Each arm should grab one bottle: the medium bottle with orange lid and the white bottle with blue accents.",
+    "Raise the orange and white bottle with cap with one arm and the cylindrical bottle with the other.",
+    "Grasp the different bottles the white and orange plastic bottle and the medium-sized bottle simultaneously.",
+    "Take the orange and white bottle with cap and the white bottle with blue accents together, one per arm.",
+    "Pick up both the bottle with orange cap and the white and blue bottle using separate arms.",
+    "Pick the white and orange plastic bottle while the other arm picks the bottle with blue cap.",
+    "Lift both different bottles, the orange bottle and the blue bottle with label, together.",
+    "Pick up the pair the cylindrical orange and white bottle and the blue bottle with label together.",
+    "Assign one arm to the orange and white bottle with cap and one to the white bottle with blue accents.",
+    "Grasp the medium orange bottle as the other arm grasps the blue bottle with label.",
+    "Lift the smooth plastic bottle and the handheld bottle in one synchronized motion.",
+    "Lift the orange and white bottle with cap and the bottle with blue cap together with both arms.",
+    "Use separate arms to lift the orange and white bottle with cap and the medium-sized bottle.",
+    "Hold the bottle with orange cap in one arm and the blue bottle with label in the other.",
+    "Reach for the orange and white bottle with cap and the plastic bottle with both arms at once.",
+    "Use each arm to secure one of the plastic bottle and the white and blue bottle.",
+    "Pick up the medium bottle with orange lid and the blue bottle simultaneously.",
+    "Pick the medium bottle with orange lid and the bottle with blue cap up in parallel.",
+    "Simultaneously grasp and lift the drinking bottle with yellow label and the cylindrical bottle.",
+    "Use both arms to grasp the smooth plastic bottle and the handheld bottle together.",
+    "Catch the bottle with orange cap and the white and blue bottle together.",
+    "Use one arm for the orange and white bottle with cap and the other for the handheld bottle.",
+    "Grab both bottles in parallel, the bottle with ribbed orange bottom and the smooth plastic bottle.",
+    "Raise both bottles at once: the white and orange plastic bottle and the plastic bottle.",
+    "Raise the orange bottle and the bottle for liquids at the same time.",
+    "Take hold of the cylindrical orange and white bottle and the bottle with blue cap at once.",
+    "Hold both the bottle with orange cap and the handheld bottle, one in each arm.",
+    "Use both arms simultaneously for the orange and white bottle with cap and the cylindrical bottle.",
+    "Grab the bottle with orange cap and the cylindrical bottle at the same time.",
+    "Secure both the smooth plastic bottle and the white and blue bottle simultaneously.",
+    "Each arm should grab one bottle: the smooth plastic bottle and the blue bottle with label.",
+    "Raise the yellow label bottle with one arm and the white bottle with blue accents with the other.",
+    "Grasp the different bottles the medium orange bottle and the medium bottle for beverages simultaneously.",
+    "Take the plastic bottle and the smooth plastic bottle together, one per arm.",
+    "Pick up both the bottle with ribbed orange bottom and the plastic bottle using separate arms.",
+    "Pick the cylindrical orange and white bottle while the other arm picks the handheld bottle.",
+    "Lift both different bottles, the bottle with orange cap and the medium-sized bottle, together.",
+    "Pick up the pair the smooth plastic bottle and the handheld bottle together.",
+    "Assign one arm to the yellow label bottle and one to the blue bottle with label.",
+    "Grasp the medium bottle with orange lid as the other arm grasps the white bottle with blue accents.",
+    "Lift the medium bottle with orange lid and the blue bottle in one synchronized motion.",
+    "Lift the orange bottle and the plastic bottle together with both arms.",
+    "Use separate arms to lift the yellow label bottle and the bottle for liquids.",
+    "Hold the white and orange plastic bottle in one arm and the white bottle with blue accents in the other.",
+    "Reach for the medium orange bottle and the cylindrical bottle with both arms at once.",
+    "Use each arm to secure one of the bottle with ribbed orange bottom and the medium bottle for beverages.",
+    "Pick up the orange and white bottle with cap and the bottle for liquids simultaneously.",
+    "Pick the yellow label bottle and the plastic bottle up in parallel.",
+    "Simultaneously grasp and lift the bottle with orange cap and the blue bottle.",
+    "Use both arms to grasp the cylindrical orange and white bottle and the bottle with blue cap together.",
+    "Catch the smooth plastic bottle and the bottle with blue cap together.",
+    "Use one arm for the orange bottle and the other for the white and blue bottle.",
+    "Grab both bottles in parallel, the white and orange plastic bottle and the blue bottle with label.",
+    "Raise both bottles at once: the orange bottle and the cylindrical bottle.",
+    "Raise the bottle with ribbed orange bottom and the bottle for liquids at the same time."
+  ],
+  "unseen": [
+    "Pick up both the bottle with yellow sticker label and the blue-capped plastic bottle together.",
+    "Use one arm for the bottle with curved body and the other for the blue-capped plastic bottle.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the blue-capped plastic bottle.",
+    "Raise both different bottles, the bottle with curved body and the bottle with curved neck design, together.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the blue-capped plastic bottle.",
+    "Pick up the bottle with curved body and the bottle with ridged neck in parallel.",
+    "Take hold of the bottle with curved body and the blue-capped plastic bottle at once.",
+    "Lift the curvy orange bottle with white section and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Grasp the bottle with curved body and the blue-capped plastic bottle simultaneously.",
+    "Grab the bottle with curved body and the bottle with curved neck design at the same time.",
+    "Pick up both the bottle with curved body and the bottle with curved neck design together.",
+    "Use one arm for the curvy orange bottle with white section and the other for the blue-capped plastic bottle.",
+    "Lift the bottle with curved body as the other arm lifts the blue-capped plastic bottle.",
+    "Raise both different bottles, the curvy orange bottle with white section and the blue-capped plastic bottle, together.",
+    "Use each arm to grab one of the bottle with curved body and the bottle with ridged neck.",
+    "Pick up the bottle with curved body and the bottle with ridged neck in parallel.",
+    "Take hold of the bottle with yellow sticker label and the blue-capped plastic bottle at once.",
+    "Lift the bottle with curved body and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Grasp the bottle with yellow sticker label and the bottle with curved neck design simultaneously.",
+    "Grab the bottle with yellow sticker label and the blue-capped plastic bottle at the same time.",
+    "Pick up both the bottle with curved body and the bottle with curved neck design together.",
+    "Use one arm for the bottle with yellow sticker label and the other for the bottle with curved neck design.",
+    "Lift the bottle with curved body as the other arm lifts the bottle with curved neck design.",
+    "Raise both different bottles, the curvy orange bottle with white section and the blue-capped plastic bottle, together.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the blue-capped plastic bottle.",
+    "Pick up the curvy orange bottle with white section and the bottle with curved neck design in parallel.",
+    "Take hold of the bottle with yellow sticker label and the bottle with ridged neck at once.",
+    "Lift the bottle with curved body and the bottle with ridged neck simultaneously with separate arms.",
+    "Grasp the curvy orange bottle with white section and the bottle with curved neck design simultaneously.",
+    "Grab the bottle with yellow sticker label and the bottle with ridged neck at the same time.",
+    "Pick up both the bottle with curved body and the bottle with ridged neck together.",
+    "Use one arm for the bottle with yellow sticker label and the other for the bottle with ridged neck.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with curved neck design.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with ridged neck, together.",
+    "Use each arm to grab one of the bottle with curved body and the bottle with curved neck design.",
+    "Pick up the curvy orange bottle with white section and the bottle with ridged neck in parallel.",
+    "Take hold of the curvy orange bottle with white section and the blue-capped plastic bottle at once.",
+    "Lift the bottle with yellow sticker label and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Grasp the bottle with yellow sticker label and the blue-capped plastic bottle simultaneously.",
+    "Grab the curvy orange bottle with white section and the blue-capped plastic bottle at the same time.",
+    "Pick up both the bottle with yellow sticker label and the bottle with curved neck design together.",
+    "Use one arm for the bottle with curved body and the other for the bottle with ridged neck.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with curved neck design.",
+    "Raise both different bottles, the bottle with yellow sticker label and the bottle with ridged neck, together.",
+    "Use each arm to grab one of the bottle with curved body and the bottle with curved neck design.",
+    "Pick up the bottle with yellow sticker label and the bottle with curved neck design in parallel.",
+    "Take hold of the bottle with yellow sticker label and the bottle with curved neck design at once.",
+    "Lift the bottle with curved body and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Grasp the bottle with curved body and the bottle with ridged neck simultaneously.",
+    "Grab the curvy orange bottle with white section and the bottle with ridged neck at the same time.",
+    "Pick up both the curvy orange bottle with white section and the blue-capped plastic bottle together.",
+    "Use one arm for the bottle with curved body and the other for the bottle with curved neck design.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the bottle with curved neck design.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with curved neck design, together.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the blue-capped plastic bottle.",
+    "Pick up the bottle with yellow sticker label and the bottle with ridged neck in parallel.",
+    "Take hold of the curvy orange bottle with white section and the bottle with ridged neck at once.",
+    "Lift the curvy orange bottle with white section and the bottle with curved neck design simultaneously with separate arms.",
+    "Grasp the curvy orange bottle with white section and the blue-capped plastic bottle simultaneously.",
+    "Grab the bottle with curved body and the blue-capped plastic bottle at the same time.",
+    "Pick up both the bottle with yellow sticker label and the bottle with ridged neck together.",
+    "Use one arm for the bottle with yellow sticker label and the other for the bottle with curved neck design.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the blue-capped plastic bottle.",
+    "Raise both different bottles, the bottle with curved body and the bottle with curved neck design, together.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the bottle with ridged neck.",
+    "Pick up the bottle with curved body and the blue-capped plastic bottle in parallel.",
+    "Take hold of the bottle with yellow sticker label and the bottle with ridged neck at once.",
+    "Lift the bottle with yellow sticker label and the bottle with curved neck design simultaneously with separate arms.",
+    "Grasp the bottle with yellow sticker label and the bottle with curved neck design simultaneously.",
+    "Grab the bottle with curved body and the bottle with curved neck design at the same time.",
+    "Pick up both the bottle with curved body and the blue-capped plastic bottle together.",
+    "Use one arm for the bottle with curved body and the other for the bottle with curved neck design.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the bottle with ridged neck.",
+    "Raise both different bottles, the curvy orange bottle with white section and the blue-capped plastic bottle, together.",
+    "Use each arm to grab one of the bottle with curved body and the bottle with ridged neck.",
+    "Pick up the curvy orange bottle with white section and the bottle with curved neck design in parallel.",
+    "Take hold of the bottle with yellow sticker label and the bottle with curved neck design at once.",
+    "Lift the bottle with yellow sticker label and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Grasp the curvy orange bottle with white section and the bottle with ridged neck simultaneously.",
+    "Grab the curvy orange bottle with white section and the bottle with curved neck design at the same time.",
+    "Pick up both the bottle with yellow sticker label and the bottle with curved neck design together.",
+    "Use one arm for the bottle with curved body and the other for the blue-capped plastic bottle.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with curved neck design.",
+    "Raise both different bottles, the bottle with yellow sticker label and the blue-capped plastic bottle, together.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the bottle with curved neck design.",
+    "Pick up the bottle with curved body and the bottle with ridged neck in parallel.",
+    "Take hold of the bottle with yellow sticker label and the blue-capped plastic bottle at once.",
+    "Lift the curvy orange bottle with white section and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Grasp the curvy orange bottle with white section and the bottle with ridged neck simultaneously.",
+    "Grab the bottle with yellow sticker label and the bottle with ridged neck at the same time.",
+    "Pick up both the curvy orange bottle with white section and the bottle with ridged neck together.",
+    "Use one arm for the bottle with curved body and the other for the bottle with curved neck design.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the blue-capped plastic bottle.",
+    "Raise both different bottles, the bottle with curved body and the bottle with ridged neck, together.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the bottle with curved neck design.",
+    "Pick up the curvy orange bottle with white section and the blue-capped plastic bottle in parallel.",
+    "Take hold of the curvy orange bottle with white section and the bottle with ridged neck at once.",
+    "Lift the bottle with yellow sticker label and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Grasp the bottle with yellow sticker label and the blue-capped plastic bottle simultaneously.",
+    "Grab the bottle with yellow sticker label and the bottle with ridged neck at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000016.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f343e4431b3494d24e01fa7d66a811e49cff641
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000016.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to grasp the plastic bottle and the plastic bottle together.",
+    "Take the plastic bottle with colored label and the bottle with narrow top together, one per arm.",
+    "Take hold of the green bottle and the bottle with rounded neck at once.",
+    "Raise the plastic bottle with colored label with one arm and the smooth green plastic bottle with the other.",
+    "Use separate arms to lift the green bottle with black text label and the smooth green plastic bottle.",
+    "Raise both bottles at once: the plastic bottle and the medium green bottle with capped neck.",
+    "Secure both the bottle with glossy plastic finish and the bottle with rounded neck simultaneously.",
+    "Use one arm for the cylindrical bottle with rounded cap and the other for the bottle with narrow top.",
+    "Use both arms simultaneously for the handheld plastic bottle and the handheld green bottle.",
+    "Pick up the pair the green bottle with black text label and the smooth green bottle together.",
+    "Hold the cylindrical bottle with rounded cap in one arm and the medium green bottle in the other.",
+    "Pick the green bottle and the smooth green plastic bottle up in parallel.",
+    "Lift both different bottles, the handheld plastic bottle and the bottle with narrow top, together.",
+    "Lift the green bottle with white label and the bottle with white printed label in one synchronized motion.",
+    "Hold both the cylindrical liquid bottle with yellow top and the medium-sized green bottle, one in each arm.",
+    "Grasp the green bottle as the other arm grasps the smooth green bottle.",
+    "Grasp the different bottles the green bottle with white label and the medium-sized green bottle simultaneously.",
+    "Catch the plastic bottle with colored label and the medium green bottle with capped neck together.",
+    "Pick the cylindrical bottle with rounded cap while the other arm picks the bottle with rounded neck.",
+    "Reach for the handheld plastic bottle and the bottle with rounded neck with both arms at once.",
+    "Grab the green bottle with white label and the bottle with ridges near base at the same time.",
+    "Use each arm to secure one of the medium bottle with green body and the smooth green plastic bottle.",
+    "Pick up the cylindrical liquid bottle with yellow top and the medium green bottle simultaneously.",
+    "Raise the cylindrical bottle with rounded cap and the green bottle with indented base at the same time.",
+    "Grab both bottles in parallel, the plastic bottle and the smooth green plastic bottle.",
+    "Simultaneously grasp and lift the smooth green and yellow bottle and the handheld green bottle.",
+    "Lift the plastic bottle with colored label and the bottle with narrow top together with both arms.",
+    "Pick up both the cylindrical bottle with rounded cap and the plastic bottle using separate arms.",
+    "Each arm should grab one bottle: the smooth green and yellow bottle and the plastic bottle.",
+    "Assign one arm to the green bottle and one to the medium-sized green bottle.",
+    "Use both arms to grasp the green bottle and the medium green bottle with capped neck together.",
+    "Take the green bottle and the green bottle with indented base together, one per arm.",
+    "Take hold of the green bottle with white label and the bottle with white printed label at once.",
+    "Raise the smooth green and yellow bottle with one arm and the medium green bottle with capped neck with the other.",
+    "Use separate arms to lift the cylindrical liquid bottle with yellow top and the bottle with narrow top.",
+    "Raise both bottles at once: the green bottle with white label and the green bottle with indented base.",
+    "Secure both the green bottle with white label and the medium green bottle with capped neck simultaneously.",
+    "Use one arm for the bottle with yellow cap and the other for the plastic bottle.",
+    "Use both arms simultaneously for the handheld plastic bottle and the bottle with white printed label.",
+    "Pick up the pair the cylindrical liquid bottle with yellow top and the green bottle with indented base together.",
+    "Hold the green bottle in one arm and the bottle with ridges near base in the other.",
+    "Pick the cylindrical liquid bottle with yellow top and the plastic bottle up in parallel.",
+    "Lift both different bottles, the cylindrical bottle with rounded cap and the smooth green bottle, together.",
+    "Lift the handheld plastic bottle and the smooth green bottle in one synchronized motion.",
+    "Hold both the cylindrical bottle with rounded cap and the medium green bottle with capped neck, one in each arm.",
+    "Grasp the cylindrical bottle with rounded cap as the other arm grasps the bottle with white printed label.",
+    "Grasp the different bottles the bottle with yellow cap and the bottle with white printed label simultaneously.",
+    "Catch the smooth green and yellow bottle and the bottle with white printed label together.",
+    "Pick the handheld plastic bottle while the other arm picks the bottle with rounded neck.",
+    "Reach for the green bottle with white label and the medium green bottle with both arms at once.",
+    "Grab the cylindrical liquid bottle with yellow top and the bottle with ridges near base at the same time.",
+    "Use each arm to secure one of the handheld plastic bottle and the smooth green bottle.",
+    "Pick up the plastic bottle with colored label and the smooth green plastic bottle simultaneously.",
+    "Raise the handheld plastic bottle and the medium green bottle at the same time.",
+    "Grab both bottles in parallel, the bottle with yellow cap and the green bottle with indented base.",
+    "Simultaneously grasp and lift the smooth green and yellow bottle and the smooth green plastic bottle.",
+    "Lift the green bottle with black text label and the medium green bottle together with both arms.",
+    "Pick up both the smooth green and yellow bottle and the bottle with rounded neck using separate arms.",
+    "Each arm should grab one bottle: the green bottle with black text label and the bottle with rounded neck.",
+    "Assign one arm to the medium bottle with green body and one to the medium green bottle with capped neck.",
+    "Use both arms to grasp the green bottle with black text label and the plastic bottle together.",
+    "Take the plastic bottle and the medium green bottle together, one per arm.",
+    "Take hold of the cylindrical bottle with rounded cap and the smooth green bottle at once.",
+    "Raise the bottle with glossy plastic finish with one arm and the smooth green plastic bottle with the other.",
+    "Use separate arms to lift the bottle with glossy plastic finish and the bottle with white printed label.",
+    "Raise both bottles at once: the bottle with glossy plastic finish and the medium green bottle with capped neck.",
+    "Secure both the cylindrical bottle with rounded cap and the bottle with narrow top simultaneously.",
+    "Use one arm for the cylindrical bottle with rounded cap and the other for the bottle with narrow top.",
+    "Use both arms simultaneously for the green bottle with white label and the smooth green bottle.",
+    "Pick up the pair the medium bottle with green body and the medium-sized green bottle together.",
+    "Hold the green bottle with black text label in one arm and the bottle with rounded neck in the other.",
+    "Pick the cylindrical bottle with rounded cap and the medium-sized green bottle up in parallel.",
+    "Lift both different bottles, the cylindrical liquid bottle with yellow top and the smooth green bottle, together.",
+    "Lift the cylindrical liquid bottle with yellow top and the green bottle with indented base in one synchronized motion.",
+    "Hold both the plastic bottle and the handheld green bottle, one in each arm.",
+    "Grasp the green bottle with black text label as the other arm grasps the green bottle with indented base.",
+    "Grasp the different bottles the cylindrical bottle with rounded cap and the bottle with narrow top simultaneously.",
+    "Catch the cylindrical bottle with rounded cap and the medium green bottle together.",
+    "Pick the bottle with glossy plastic finish while the other arm picks the handheld green bottle.",
+    "Reach for the green bottle with black text label and the handheld green bottle with both arms at once.",
+    "Grab the plastic bottle and the handheld green bottle at the same time.",
+    "Use each arm to secure one of the bottle with glossy plastic finish and the bottle with rounded neck.",
+    "Pick up the green bottle and the smooth green bottle simultaneously.",
+    "Raise the cylindrical bottle with rounded cap and the medium green bottle with capped neck at the same time.",
+    "Grab both bottles in parallel, the bottle with yellow cap and the smooth green plastic bottle.",
+    "Simultaneously grasp and lift the bottle with yellow cap and the green bottle with indented base.",
+    "Lift the bottle with glossy plastic finish and the handheld green bottle together with both arms.",
+    "Pick up both the medium bottle with green body and the green bottle with indented base using separate arms.",
+    "Each arm should grab one bottle: the cylindrical liquid bottle with yellow top and the green bottle with indented base.",
+    "Assign one arm to the medium bottle with green body and one to the bottle with white printed label.",
+    "Use both arms to grasp the green bottle with white label and the smooth green bottle together.",
+    "Take the plastic bottle and the medium-sized green bottle together, one per arm.",
+    "Take hold of the medium bottle with green body and the smooth green bottle at once.",
+    "Raise the bottle with glossy plastic finish with one arm and the handheld green bottle with the other.",
+    "Use separate arms to lift the plastic bottle with colored label and the medium green bottle.",
+    "Raise both bottles at once: the plastic bottle and the bottle with ridges near base.",
+    "Secure both the green bottle with white label and the medium green bottle with capped neck simultaneously.",
+    "Use one arm for the bottle with yellow cap and the other for the smooth green bottle.",
+    "Use both arms simultaneously for the plastic bottle with colored label and the bottle with narrow top.",
+    "Pick up the pair the plastic bottle with colored label and the smooth green bottle together."
+  ],
+  "unseen": [
+    "Pick up both the yellow-capped bottle with smooth surface and the green bottle together.",
+    "Use one arm for the medium-sized drink bottle and the other for the green bottle with white label.",
+    "Grasp the yellow-capped bottle with smooth surface and the green plastic bottle with ridged bottom simultaneously.",
+    "Lift the medium-sized drink bottle as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Grab the medium-sized drink bottle and the green bottle with white label at the same time.",
+    "Lift the medium-sized drink bottle and the green bottle simultaneously with separate arms.",
+    "Take hold of the medium-sized drink bottle and the green bottle with white label at once.",
+    "Use each arm to grab one of the medium-sized drink bottle and the green bottle with white label.",
+    "Pick up the bottle with green base and black prints and the green bottle with white label in parallel.",
+    "Raise both different bottles, the medium-sized drink bottle and the green bottle, together.",
+    "Pick up both the medium-sized drink bottle and the green plastic bottle with ridged bottom together.",
+    "Use one arm for the medium-sized drink bottle and the other for the green plastic bottle with ridged bottom.",
+    "Grasp the yellow-capped bottle with smooth surface and the green bottle simultaneously.",
+    "Lift the bottle with green base and black prints as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Grab the medium-sized drink bottle and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the yellow-capped bottle with smooth surface and the green plastic bottle with ridged bottom simultaneously with separate arms.",
+    "Take hold of the yellow-capped bottle with smooth surface and the green plastic bottle with ridged bottom at once.",
+    "Use each arm to grab one of the bottle with green base and black prints and the green plastic bottle with ridged bottom.",
+    "Pick up the yellow-capped bottle with smooth surface and the green bottle in parallel.",
+    "Raise both different bottles, the bottle with green base and black prints and the green bottle with white label, together.",
+    "Pick up both the medium-sized drink bottle and the green bottle with white label together.",
+    "Use one arm for the bottle with green base and black prints and the other for the green bottle.",
+    "Grasp the yellow-capped bottle with smooth surface and the green plastic bottle with ridged bottom simultaneously.",
+    "Lift the bottle with green base and black prints as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Grab the medium-sized drink bottle and the green bottle with white label at the same time.",
+    "Lift the bottle with green base and black prints and the green plastic bottle with ridged bottom simultaneously with separate arms.",
+    "Take hold of the yellow-capped bottle with smooth surface and the green bottle with white label at once.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the green bottle.",
+    "Pick up the yellow-capped bottle with smooth surface and the green bottle in parallel.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the green bottle, together.",
+    "Pick up both the medium-sized drink bottle and the green bottle together.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the green bottle.",
+    "Grasp the bottle with green base and black prints and the green plastic bottle with ridged bottom simultaneously.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the green bottle with white label.",
+    "Grab the yellow-capped bottle with smooth surface and the green bottle with white label at the same time.",
+    "Lift the bottle with green base and black prints and the green bottle with white label simultaneously with separate arms.",
+    "Take hold of the medium-sized drink bottle and the green plastic bottle with ridged bottom at once.",
+    "Use each arm to grab one of the bottle with green base and black prints and the green bottle.",
+    "Pick up the yellow-capped bottle with smooth surface and the green plastic bottle with ridged bottom in parallel.",
+    "Raise both different bottles, the bottle with green base and black prints and the green plastic bottle with ridged bottom, together.",
+    "Pick up both the yellow-capped bottle with smooth surface and the green bottle with white label together.",
+    "Use one arm for the medium-sized drink bottle and the other for the green bottle with white label.",
+    "Grasp the yellow-capped bottle with smooth surface and the green bottle with white label simultaneously.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Grab the bottle with green base and black prints and the green bottle at the same time.",
+    "Lift the medium-sized drink bottle and the green bottle simultaneously with separate arms.",
+    "Take hold of the medium-sized drink bottle and the green bottle at once.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the green bottle.",
+    "Pick up the yellow-capped bottle with smooth surface and the green bottle in parallel.",
+    "Raise both different bottles, the bottle with green base and black prints and the green plastic bottle with ridged bottom, together.",
+    "Pick up both the bottle with green base and black prints and the green bottle together.",
+    "Use one arm for the bottle with green base and black prints and the other for the green bottle with white label.",
+    "Grasp the medium-sized drink bottle and the green bottle simultaneously.",
+    "Lift the medium-sized drink bottle as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Grab the yellow-capped bottle with smooth surface and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the bottle with green base and black prints and the green bottle with white label simultaneously with separate arms.",
+    "Take hold of the bottle with green base and black prints and the green bottle with white label at once.",
+    "Use each arm to grab one of the bottle with green base and black prints and the green bottle with white label.",
+    "Pick up the medium-sized drink bottle and the green bottle in parallel.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the green bottle, together.",
+    "Pick up both the bottle with green base and black prints and the green bottle together.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the green bottle.",
+    "Grasp the bottle with green base and black prints and the green bottle simultaneously.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Grab the bottle with green base and black prints and the green bottle with white label at the same time.",
+    "Lift the bottle with green base and black prints and the green bottle with white label simultaneously with separate arms.",
+    "Take hold of the medium-sized drink bottle and the green plastic bottle with ridged bottom at once.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the green plastic bottle with ridged bottom.",
+    "Pick up the yellow-capped bottle with smooth surface and the green plastic bottle with ridged bottom in parallel.",
+    "Raise both different bottles, the bottle with green base and black prints and the green bottle, together.",
+    "Pick up both the bottle with green base and black prints and the green plastic bottle with ridged bottom together.",
+    "Use one arm for the medium-sized drink bottle and the other for the green bottle with white label.",
+    "Grasp the yellow-capped bottle with smooth surface and the green bottle with white label simultaneously.",
+    "Lift the medium-sized drink bottle as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Grab the medium-sized drink bottle and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the medium-sized drink bottle and the green bottle simultaneously with separate arms.",
+    "Take hold of the yellow-capped bottle with smooth surface and the green bottle with white label at once.",
+    "Use each arm to grab one of the medium-sized drink bottle and the green plastic bottle with ridged bottom.",
+    "Pick up the medium-sized drink bottle and the green bottle in parallel.",
+    "Raise both different bottles, the bottle with green base and black prints and the green bottle, together.",
+    "Pick up both the yellow-capped bottle with smooth surface and the green bottle with white label together.",
+    "Use one arm for the medium-sized drink bottle and the other for the green bottle.",
+    "Grasp the medium-sized drink bottle and the green bottle with white label simultaneously.",
+    "Lift the bottle with green base and black prints as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Grab the yellow-capped bottle with smooth surface and the green bottle at the same time.",
+    "Lift the medium-sized drink bottle and the green bottle simultaneously with separate arms.",
+    "Take hold of the medium-sized drink bottle and the green bottle with white label at once.",
+    "Use each arm to grab one of the bottle with green base and black prints and the green bottle.",
+    "Pick up the medium-sized drink bottle and the green plastic bottle with ridged bottom in parallel.",
+    "Raise both different bottles, the medium-sized drink bottle and the green plastic bottle with ridged bottom, together.",
+    "Pick up both the medium-sized drink bottle and the green bottle with white label together.",
+    "Use one arm for the bottle with green base and black prints and the other for the green plastic bottle with ridged bottom.",
+    "Grasp the medium-sized drink bottle and the green bottle with white label simultaneously.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the green bottle with white label.",
+    "Grab the bottle with green base and black prints and the green bottle at the same time.",
+    "Lift the bottle with green base and black prints and the green bottle with white label simultaneously with separate arms.",
+    "Take hold of the medium-sized drink bottle and the green bottle with white label at once.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the green bottle with white label.",
+    "Pick up the bottle with green base and black prints and the green bottle with white label in parallel.",
+    "Raise both different bottles, the bottle with green base and black prints and the green plastic bottle with ridged bottom, together."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000017.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..5406b6d4314aad13be961919cae450c4d9df4439
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000017.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the bottle with glossy plastic finish and the yellow bottle with a green design at the same time.",
+    "Reach for the bottle with yellow cap and the smooth bottle with rounded edges with both arms at once.",
+    "Take hold of the cylindrical bottle with rounded cap and the yellow bottle with a green design at once.",
+    "Grab both bottles in parallel, the green bottle and the smooth bottle with rounded edges.",
+    "Grasp the smooth green and yellow bottle as the other arm grasps the bottle with green label.",
+    "Catch the green bottle and the medium rectangular yellow bottle together.",
+    "Grab the plastic bottle with colored label and the yellow plastic bottle with white top at the same time.",
+    "Lift the green bottle and the yellow container with rounded edges in one synchronized motion.",
+    "Raise both bottles at once: the bottle with yellow cap and the medium rectangular yellow bottle.",
+    "Hold both the cylindrical bottle with rounded cap and the bottle with white cap, one in each arm.",
+    "Assign one arm to the bottle with glossy plastic finish and one to the bottle with white cap.",
+    "Each arm should grab one bottle: the cylindrical liquid bottle with yellow top and the yellow bottle.",
+    "Take the smooth green and yellow bottle and the rectangular bottle with cylindrical neck together, one per arm.",
+    "Pick up the cylindrical bottle with rounded cap and the yellow plastic bottle with white top simultaneously.",
+    "Use both arms simultaneously for the cylindrical liquid bottle with yellow top and the yellow bottle.",
+    "Use each arm to secure one of the handheld plastic bottle and the rectangular bottle with cylindrical neck.",
+    "Pick the plastic bottle with colored label while the other arm picks the yellow container with rounded edges.",
+    "Pick up both the plastic bottle with colored label and the plastic bottle using separate arms.",
+    "Raise the plastic bottle with one arm and the bottle with green label with the other.",
+    "Hold the smooth green and yellow bottle in one arm and the bottle with a smooth plastic body in the other.",
+    "Simultaneously grasp and lift the bottle with yellow cap and the medium rectangular yellow bottle.",
+    "Grasp the different bottles the cylindrical bottle with rounded cap and the rectangular bottle with cylindrical neck simultaneously.",
+    "Lift the cylindrical bottle with rounded cap and the medium rectangular yellow bottle together with both arms.",
+    "Use separate arms to lift the green bottle and the yellow bottle with a green design.",
+    "Lift both different bottles, the cylindrical liquid bottle with yellow top and the yellow container with rounded edges, together.",
+    "Pick up the pair the green bottle with white label and the bottle with a smooth plastic body together.",
+    "Pick the plastic bottle and the bottle with white cap up in parallel.",
+    "Use one arm for the cylindrical liquid bottle with yellow top and the other for the rectangular bottle with cylindrical neck.",
+    "Secure both the smooth green and yellow bottle and the bottle with green label simultaneously.",
+    "Use both arms to grasp the medium bottle with green body and the yellow container with rounded edges together.",
+    "Raise the green bottle with white label and the yellow container with rounded edges at the same time.",
+    "Reach for the green bottle and the bottle with white cap with both arms at once.",
+    "Take hold of the green bottle and the smooth bottle with rounded edges at once.",
+    "Grab both bottles in parallel, the smooth green and yellow bottle and the bottle with green and white labels.",
+    "Grasp the bottle with glossy plastic finish as the other arm grasps the yellow container with rounded edges.",
+    "Catch the cylindrical bottle with rounded cap and the smooth bottle with rounded edges together.",
+    "Grab the bottle with yellow cap and the rectangular bottle with cylindrical neck at the same time.",
+    "Lift the green bottle with black text label and the bottle with green and white labels in one synchronized motion.",
+    "Raise both bottles at once: the bottle with glossy plastic finish and the yellow container with rounded edges.",
+    "Hold both the green bottle with white label and the bottle with green and white labels, one in each arm.",
+    "Assign one arm to the cylindrical liquid bottle with yellow top and one to the yellow bottle.",
+    "Each arm should grab one bottle: the plastic bottle with colored label and the bottle with a smooth plastic body.",
+    "Take the bottle with glossy plastic finish and the bottle with white cap together, one per arm.",
+    "Pick up the handheld plastic bottle and the yellow plastic bottle with white top simultaneously.",
+    "Use both arms simultaneously for the medium bottle with green body and the medium rectangular yellow bottle.",
+    "Use each arm to secure one of the medium bottle with green body and the rectangular bottle with cylindrical neck.",
+    "Pick the bottle with glossy plastic finish while the other arm picks the yellow bottle with a green design.",
+    "Pick up both the green bottle with black text label and the bottle with white cap using separate arms.",
+    "Raise the bottle with yellow cap with one arm and the yellow bottle with a green design with the other.",
+    "Hold the green bottle with white label in one arm and the bottle with a smooth plastic body in the other.",
+    "Simultaneously grasp and lift the medium bottle with green body and the medium rectangular yellow bottle.",
+    "Grasp the different bottles the green bottle with white label and the smooth bottle with rounded edges simultaneously.",
+    "Lift the plastic bottle with colored label and the bottle with white cap together with both arms.",
+    "Use separate arms to lift the green bottle with white label and the rectangular bottle with cylindrical neck.",
+    "Lift both different bottles, the bottle with glossy plastic finish and the bottle with green and white labels, together.",
+    "Pick up the pair the cylindrical liquid bottle with yellow top and the yellow bottle together.",
+    "Pick the smooth green and yellow bottle and the plastic bottle up in parallel.",
+    "Use one arm for the cylindrical bottle with rounded cap and the other for the yellow bottle.",
+    "Secure both the bottle with glossy plastic finish and the plastic bottle simultaneously.",
+    "Use both arms to grasp the bottle with yellow cap and the rectangular bottle with cylindrical neck together.",
+    "Raise the plastic bottle and the bottle with a smooth plastic body at the same time.",
+    "Reach for the green bottle and the rectangular bottle with cylindrical neck with both arms at once.",
+    "Take hold of the plastic bottle and the bottle with white cap at once.",
+    "Grab both bottles in parallel, the medium bottle with green body and the rectangular bottle with cylindrical neck.",
+    "Grasp the bottle with glossy plastic finish as the other arm grasps the bottle with white cap.",
+    "Catch the green bottle and the yellow container with rounded edges together.",
+    "Grab the plastic bottle with colored label and the smooth bottle with rounded edges at the same time.",
+    "Lift the medium bottle with green body and the bottle with a smooth plastic body in one synchronized motion.",
+    "Raise both bottles at once: the bottle with yellow cap and the plastic bottle.",
+    "Hold both the plastic bottle with colored label and the yellow plastic bottle with white top, one in each arm.",
+    "Assign one arm to the bottle with glossy plastic finish and one to the plastic bottle.",
+    "Each arm should grab one bottle: the green bottle and the yellow bottle.",
+    "Take the green bottle with white label and the rectangular bottle with cylindrical neck together, one per arm.",
+    "Pick up the plastic bottle and the bottle with a smooth plastic body simultaneously.",
+    "Use both arms simultaneously for the plastic bottle with colored label and the bottle with white cap.",
+    "Use each arm to secure one of the handheld plastic bottle and the yellow container with rounded edges.",
+    "Pick the plastic bottle while the other arm picks the rectangular bottle with cylindrical neck.",
+    "Pick up both the medium bottle with green body and the bottle with a smooth plastic body using separate arms.",
+    "Raise the cylindrical bottle with rounded cap with one arm and the plastic bottle with the other.",
+    "Hold the bottle with yellow cap in one arm and the yellow plastic bottle with white top in the other.",
+    "Simultaneously grasp and lift the green bottle and the bottle with green and white labels.",
+    "Grasp the different bottles the cylindrical bottle with rounded cap and the bottle with green label simultaneously.",
+    "Lift the green bottle and the medium rectangular yellow bottle together with both arms.",
+    "Use separate arms to lift the handheld plastic bottle and the medium rectangular yellow bottle.",
+    "Lift both different bottles, the cylindrical liquid bottle with yellow top and the bottle with green label, together.",
+    "Pick up the pair the handheld plastic bottle and the smooth bottle with rounded edges together.",
+    "Pick the bottle with yellow cap and the rectangular bottle with cylindrical neck up in parallel.",
+    "Use one arm for the cylindrical bottle with rounded cap and the other for the bottle with a smooth plastic body.",
+    "Secure both the smooth green and yellow bottle and the yellow container with rounded edges simultaneously.",
+    "Use both arms to grasp the smooth green and yellow bottle and the yellow container with rounded edges together.",
+    "Raise the bottle with glossy plastic finish and the yellow container with rounded edges at the same time.",
+    "Reach for the green bottle and the rectangular bottle with cylindrical neck with both arms at once.",
+    "Take hold of the handheld plastic bottle and the yellow bottle with a green design at once.",
+    "Grab both bottles in parallel, the green bottle with white label and the yellow container with rounded edges.",
+    "Grasp the cylindrical liquid bottle with yellow top as the other arm grasps the yellow bottle with a green design.",
+    "Catch the bottle with yellow cap and the yellow bottle with a green design together.",
+    "Grab the bottle with glossy plastic finish and the yellow bottle at the same time.",
+    "Lift the plastic bottle and the yellow container with rounded edges in one synchronized motion.",
+    "Raise both bottles at once: the smooth green and yellow bottle and the bottle with white cap.",
+    "Hold both the smooth green and yellow bottle and the bottle with green label, one in each arm."
+  ],
+  "unseen": [
+    "Lift the medium-sized drink bottle and the yellow bottle for liquid storage simultaneously with separate arms.",
+    "Pick up both the bottle with green base and black prints and the yellow bottle for liquid storage together.",
+    "Use one arm for the bottle with green base and black prints and the other for the yellow bottle for liquid storage.",
+    "Grasp the bottle with green base and black prints and the yellow bottle for liquid storage simultaneously.",
+    "Grab the bottle with green base and black prints and the yellow bottle for liquid storage at the same time.",
+    "Pick up the bottle with green base and black prints and the yellow bottle for liquid storage in parallel.",
+    "Take hold of the bottle with green base and black prints and the yellow bottle for liquid storage at once.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the hand-sized yellow plastic bottle.",
+    "Lift the medium-sized drink bottle as the other arm lifts the yellow rectangular bottle.",
+    "Raise both different bottles, the medium-sized drink bottle and the yellow rectangular bottle, together.",
+    "Lift the bottle with green base and black prints and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage together.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the yellow rectangular bottle.",
+    "Grasp the bottle with green base and black prints and the hand-sized yellow plastic bottle simultaneously.",
+    "Grab the medium-sized drink bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Pick up the yellow-capped bottle with smooth surface and the hand-sized yellow plastic bottle in parallel.",
+    "Take hold of the bottle with green base and black prints and the hand-sized yellow plastic bottle at once.",
+    "Use each arm to grab one of the medium-sized drink bottle and the yellow rectangular bottle.",
+    "Lift the medium-sized drink bottle as the other arm lifts the yellow bottle for liquid storage.",
+    "Raise both different bottles, the bottle with green base and black prints and the hand-sized yellow plastic bottle, together.",
+    "Lift the yellow-capped bottle with smooth surface and the hand-sized yellow plastic bottle simultaneously with separate arms.",
+    "Pick up both the medium-sized drink bottle and the hand-sized yellow plastic bottle together.",
+    "Use one arm for the bottle with green base and black prints and the other for the yellow bottle for liquid storage.",
+    "Grasp the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage simultaneously.",
+    "Grab the medium-sized drink bottle and the hand-sized yellow plastic bottle at the same time.",
+    "Pick up the bottle with green base and black prints and the yellow bottle for liquid storage in parallel.",
+    "Take hold of the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage at once.",
+    "Use each arm to grab one of the medium-sized drink bottle and the hand-sized yellow plastic bottle.",
+    "Lift the medium-sized drink bottle as the other arm lifts the yellow bottle for liquid storage.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage, together.",
+    "Lift the bottle with green base and black prints and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the bottle with green base and black prints and the yellow rectangular bottle together.",
+    "Use one arm for the medium-sized drink bottle and the other for the yellow bottle for liquid storage.",
+    "Grasp the bottle with green base and black prints and the yellow bottle for liquid storage simultaneously.",
+    "Grab the yellow-capped bottle with smooth surface and the yellow rectangular bottle at the same time.",
+    "Pick up the medium-sized drink bottle and the hand-sized yellow plastic bottle in parallel.",
+    "Take hold of the bottle with green base and black prints and the yellow bottle for liquid storage at once.",
+    "Use each arm to grab one of the medium-sized drink bottle and the hand-sized yellow plastic bottle.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the yellow bottle for liquid storage.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the yellow rectangular bottle, together.",
+    "Lift the yellow-capped bottle with smooth surface and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the medium-sized drink bottle and the hand-sized yellow plastic bottle together.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the yellow bottle for liquid storage.",
+    "Grasp the bottle with green base and black prints and the yellow bottle for liquid storage simultaneously.",
+    "Grab the medium-sized drink bottle and the yellow rectangular bottle at the same time.",
+    "Pick up the bottle with green base and black prints and the yellow bottle for liquid storage in parallel.",
+    "Take hold of the bottle with green base and black prints and the yellow rectangular bottle at once.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the yellow rectangular bottle.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the yellow rectangular bottle.",
+    "Raise both different bottles, the bottle with green base and black prints and the yellow rectangular bottle, together.",
+    "Lift the yellow-capped bottle with smooth surface and the hand-sized yellow plastic bottle simultaneously with separate arms.",
+    "Pick up both the medium-sized drink bottle and the hand-sized yellow plastic bottle together.",
+    "Use one arm for the bottle with green base and black prints and the other for the yellow rectangular bottle.",
+    "Grasp the yellow-capped bottle with smooth surface and the yellow bottle for liquid storage simultaneously.",
+    "Grab the yellow-capped bottle with smooth surface and the hand-sized yellow plastic bottle at the same time.",
+    "Pick up the medium-sized drink bottle and the yellow rectangular bottle in parallel.",
+    "Take hold of the yellow-capped bottle with smooth surface and the yellow rectangular bottle at once.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the yellow rectangular bottle.",
+    "Lift the bottle with green base and black prints as the other arm lifts the yellow bottle for liquid storage.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the hand-sized yellow plastic bottle, together.",
+    "Lift the bottle with green base and black prints and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the medium-sized drink bottle and the yellow bottle for liquid storage together.",
+    "Use one arm for the bottle with green base and black prints and the other for the yellow bottle for liquid storage.",
+    "Grasp the bottle with green base and black prints and the yellow rectangular bottle simultaneously.",
+    "Grab the yellow-capped bottle with smooth surface and the yellow rectangular bottle at the same time.",
+    "Pick up the medium-sized drink bottle and the yellow bottle for liquid storage in parallel.",
+    "Take hold of the bottle with green base and black prints and the yellow bottle for liquid storage at once.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the yellow rectangular bottle.",
+    "Lift the medium-sized drink bottle as the other arm lifts the yellow bottle for liquid storage.",
+    "Raise both different bottles, the bottle with green base and black prints and the yellow rectangular bottle, together.",
+    "Lift the bottle with green base and black prints and the hand-sized yellow plastic bottle simultaneously with separate arms.",
+    "Pick up both the bottle with green base and black prints and the hand-sized yellow plastic bottle together.",
+    "Use one arm for the medium-sized drink bottle and the other for the yellow rectangular bottle.",
+    "Grasp the medium-sized drink bottle and the yellow bottle for liquid storage simultaneously.",
+    "Grab the bottle with green base and black prints and the hand-sized yellow plastic bottle at the same time.",
+    "Pick up the bottle with green base and black prints and the hand-sized yellow plastic bottle in parallel.",
+    "Take hold of the yellow-capped bottle with smooth surface and the yellow rectangular bottle at once.",
+    "Use each arm to grab one of the medium-sized drink bottle and the yellow rectangular bottle.",
+    "Lift the medium-sized drink bottle as the other arm lifts the hand-sized yellow plastic bottle.",
+    "Raise both different bottles, the bottle with green base and black prints and the yellow bottle for liquid storage, together.",
+    "Lift the bottle with green base and black prints and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the medium-sized drink bottle and the yellow bottle for liquid storage together.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the hand-sized yellow plastic bottle.",
+    "Grasp the medium-sized drink bottle and the hand-sized yellow plastic bottle simultaneously.",
+    "Grab the bottle with green base and black prints and the yellow bottle for liquid storage at the same time.",
+    "Pick up the medium-sized drink bottle and the yellow rectangular bottle in parallel.",
+    "Take hold of the bottle with green base and black prints and the yellow bottle for liquid storage at once.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the yellow rectangular bottle.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the hand-sized yellow plastic bottle.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the yellow rectangular bottle, together.",
+    "Lift the medium-sized drink bottle and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the bottle with green base and black prints and the yellow bottle for liquid storage together.",
+    "Use one arm for the bottle with green base and black prints and the other for the yellow bottle for liquid storage.",
+    "Grasp the bottle with green base and black prints and the yellow bottle for liquid storage simultaneously.",
+    "Grab the bottle with green base and black prints and the yellow bottle for liquid storage at the same time.",
+    "Pick up the medium-sized drink bottle and the yellow rectangular bottle in parallel.",
+    "Take hold of the medium-sized drink bottle and the yellow rectangular bottle at once.",
+    "Use each arm to grab one of the bottle with green base and black prints and the yellow rectangular bottle.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the yellow rectangular bottle.",
+    "Raise both different bottles, the bottle with green base and black prints and the yellow rectangular bottle, together."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000018.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f150315fb660f33d3a16704194153f8eb4fa8e
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000018.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the orange bottle and the red bottle with curved grooves in one synchronized motion.",
+    "Grasp the bottle with ribbed orange bottom as the other arm grasps the handheld plastic bottle.",
+    "Take hold of the bottle with orange cap and the red bottle with curved grooves at once.",
+    "Raise both bottles at once: the white and orange plastic bottle and the red bottle with white bottom text.",
+    "Use separate arms to lift the yellow label bottle and the plastic bottle.",
+    "Grab the drinking bottle with yellow label and the smooth red cylindrical bottle at the same time.",
+    "Hold both the yellow label bottle and the red bottle with screw cap, one in each arm.",
+    "Use each arm to secure one of the orange bottle and the red bottle.",
+    "Simultaneously grasp and lift the drinking bottle with yellow label and the plastic bottle with bright red color.",
+    "Pick up the yellow label bottle and the medium-size plastic bottle simultaneously.",
+    "Hold the medium bottle with orange lid in one arm and the plastic bottle with bright red color in the other.",
+    "Reach for the cylindrical orange and white bottle and the smooth red cylindrical bottle with both arms at once.",
+    "Use both arms to grasp the smooth plastic bottle and the plastic bottle with bright red color together.",
+    "Assign one arm to the drinking bottle with yellow label and one to the red bottle with narrow neck.",
+    "Raise the plastic bottle with one arm and the red bottle with narrow neck with the other.",
+    "Secure both the cylindrical orange and white bottle and the medium-size plastic bottle simultaneously.",
+    "Use one arm for the bottle with orange cap and the other for the medium-size plastic bottle.",
+    "Pick the drinking bottle with yellow label while the other arm picks the plastic bottle.",
+    "Pick up both the smooth plastic bottle and the bottle with red cap using separate arms.",
+    "Pick the orange bottle and the red bottle up in parallel.",
+    "Lift both different bottles, the drinking bottle with yellow label and the bottle with red cap, together.",
+    "Take the cylindrical orange and white bottle and the yellow text bottle together, one per arm.",
+    "Raise the yellow label bottle and the plastic bottle at the same time.",
+    "Each arm should grab one bottle: the drinking bottle with yellow label and the red bottle.",
+    "Grab both bottles in parallel, the orange and white bottle with cap and the red bottle.",
+    "Pick up the pair the plastic bottle and the plastic bottle with bright red color together.",
+    "Lift the yellow label bottle and the red bottle with screw cap together with both arms.",
+    "Use both arms simultaneously for the bottle with orange cap and the red bottle with narrow neck.",
+    "Grasp the different bottles the cylindrical orange and white bottle and the red bottle simultaneously.",
+    "Catch the white and orange plastic bottle and the plastic bottle together.",
+    "Lift the medium orange bottle and the handheld plastic bottle in one synchronized motion.",
+    "Grasp the medium bottle with orange lid as the other arm grasps the plastic bottle with bright red color.",
+    "Take hold of the orange and white bottle with cap and the smooth red cylindrical bottle at once.",
+    "Raise both bottles at once: the plastic bottle and the red bottle.",
+    "Use separate arms to lift the orange bottle and the plastic bottle with bright red color.",
+    "Grab the medium bottle with orange lid and the red bottle with narrow neck at the same time.",
+    "Hold both the white and orange plastic bottle and the bottle with red cap, one in each arm.",
+    "Use each arm to secure one of the plastic bottle and the plastic bottle with bright red color.",
+    "Simultaneously grasp and lift the white and orange plastic bottle and the red bottle with narrow neck.",
+    "Pick up the drinking bottle with yellow label and the plastic bottle simultaneously.",
+    "Hold the bottle with orange cap in one arm and the handheld plastic bottle in the other.",
+    "Reach for the orange bottle and the plastic bottle with bright red color with both arms at once.",
+    "Use both arms to grasp the bottle with ribbed orange bottom and the handheld plastic bottle together.",
+    "Assign one arm to the cylindrical orange and white bottle and one to the yellow text bottle.",
+    "Raise the cylindrical orange and white bottle with one arm and the plastic bottle with bright red color with the other.",
+    "Secure both the bottle with ribbed orange bottom and the plastic bottle simultaneously.",
+    "Use one arm for the smooth plastic bottle and the other for the yellow text bottle.",
+    "Pick the plastic bottle while the other arm picks the yellow text bottle.",
+    "Pick up both the plastic bottle and the smooth red cylindrical bottle using separate arms.",
+    "Pick the orange and white bottle with cap and the red bottle with curved grooves up in parallel.",
+    "Lift both different bottles, the orange and white bottle with cap and the smooth red cylindrical bottle, together.",
+    "Take the bottle with orange cap and the red bottle with white bottom text together, one per arm.",
+    "Raise the drinking bottle with yellow label and the plastic bottle at the same time.",
+    "Each arm should grab one bottle: the orange and white bottle with cap and the yellow text bottle.",
+    "Grab both bottles in parallel, the smooth plastic bottle and the red bottle with narrow neck.",
+    "Pick up the pair the orange bottle and the bottle with red cap together.",
+    "Lift the orange bottle and the smooth red cylindrical bottle together with both arms.",
+    "Use both arms simultaneously for the bottle with orange cap and the plastic bottle with bright red color.",
+    "Grasp the different bottles the medium bottle with orange lid and the medium-size plastic bottle simultaneously.",
+    "Catch the smooth plastic bottle and the red bottle with white bottom text together.",
+    "Lift the bottle with orange cap and the red bottle with screw cap in one synchronized motion.",
+    "Grasp the smooth plastic bottle as the other arm grasps the yellow text bottle.",
+    "Take hold of the cylindrical orange and white bottle and the medium-size plastic bottle at once.",
+    "Raise both bottles at once: the orange bottle and the red bottle.",
+    "Use separate arms to lift the cylindrical orange and white bottle and the medium-size plastic bottle.",
+    "Grab the orange bottle and the red bottle with white bottom text at the same time.",
+    "Hold both the drinking bottle with yellow label and the handheld plastic bottle, one in each arm.",
+    "Use each arm to secure one of the cylindrical orange and white bottle and the handheld plastic bottle.",
+    "Simultaneously grasp and lift the plastic bottle and the red bottle with curved grooves.",
+    "Pick up the orange and white bottle with cap and the red bottle simultaneously.",
+    "Hold the cylindrical orange and white bottle in one arm and the bottle with red cap in the other.",
+    "Reach for the cylindrical orange and white bottle and the red bottle with both arms at once.",
+    "Use both arms to grasp the orange and white bottle with cap and the plastic bottle together.",
+    "Assign one arm to the orange bottle and one to the handheld plastic bottle.",
+    "Raise the medium bottle with orange lid with one arm and the red bottle with white bottom text with the other.",
+    "Secure both the medium orange bottle and the yellow text bottle simultaneously.",
+    "Use one arm for the orange and white bottle with cap and the other for the red bottle with screw cap.",
+    "Pick the drinking bottle with yellow label while the other arm picks the bottle with red cap.",
+    "Pick up both the orange and white bottle with cap and the handheld plastic bottle using separate arms.",
+    "Pick the smooth plastic bottle and the red bottle up in parallel.",
+    "Lift both different bottles, the cylindrical orange and white bottle and the smooth red cylindrical bottle, together.",
+    "Take the drinking bottle with yellow label and the bottle with red cap together, one per arm.",
+    "Raise the bottle with orange cap and the red bottle with screw cap at the same time.",
+    "Each arm should grab one bottle: the medium bottle with orange lid and the smooth red cylindrical bottle.",
+    "Grab both bottles in parallel, the orange and white bottle with cap and the plastic bottle with bright red color.",
+    "Pick up the pair the orange and white bottle with cap and the plastic bottle with bright red color together.",
+    "Lift the white and orange plastic bottle and the handheld plastic bottle together with both arms.",
+    "Use both arms simultaneously for the yellow label bottle and the plastic bottle.",
+    "Grasp the different bottles the white and orange plastic bottle and the medium-size plastic bottle simultaneously.",
+    "Catch the orange and white bottle with cap and the red bottle with narrow neck together.",
+    "Lift the plastic bottle and the plastic bottle with bright red color in one synchronized motion.",
+    "Grasp the smooth plastic bottle as the other arm grasps the bottle with red cap.",
+    "Take hold of the medium bottle with orange lid and the red bottle with white bottom text at once.",
+    "Raise both bottles at once: the plastic bottle and the smooth red cylindrical bottle.",
+    "Use separate arms to lift the bottle with ribbed orange bottom and the handheld plastic bottle.",
+    "Grab the orange and white bottle with cap and the plastic bottle at the same time.",
+    "Hold both the smooth plastic bottle and the handheld plastic bottle, one in each arm.",
+    "Use each arm to secure one of the bottle with ribbed orange bottom and the red bottle.",
+    "Simultaneously grasp and lift the white and orange plastic bottle and the medium-size plastic bottle.",
+    "Pick up the medium bottle with orange lid and the plastic bottle with bright red color simultaneously."
+  ],
+  "unseen": [
+    "Raise both different bottles, the bottle with curved body and the shiny red bottle, together.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the shiny red bottle.",
+    "Grab the bottle with curved body and the shiny red bottle at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the shiny red bottle.",
+    "Grasp the bottle with yellow sticker label and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with curved body and the shiny red bottle simultaneously with separate arms.",
+    "Take hold of the curvy orange bottle with white section and the bottle with white and yellow label at once.",
+    "Pick up the bottle with curved body and the shiny red bottle in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up both the bottle with curved body and the shiny red bottle together.",
+    "Raise both different bottles, the bottle with curved body and the bottle with white and yellow label, together.",
+    "Use each arm to grab one of the bottle with curved body and the bottle with white and yellow label.",
+    "Grab the bottle with yellow sticker label and the shiny red bottle at the same time.",
+    "Use one arm for the bottle with curved body and the other for the bottle with white and yellow label.",
+    "Grasp the bottle with yellow sticker label and the shiny red bottle simultaneously.",
+    "Lift the bottle with curved body and the shiny red bottle simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the bottle with white and yellow label at once.",
+    "Pick up the curvy orange bottle with white section and the bottle with white and yellow label in parallel.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the shiny red bottle.",
+    "Pick up both the bottle with curved body and the shiny red bottle together.",
+    "Raise both different bottles, the bottle with curved body and the bottle with yellow Chinese characters, together.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the shiny red bottle.",
+    "Grab the bottle with yellow sticker label and the bottle with yellow Chinese characters at the same time.",
+    "Use one arm for the curvy orange bottle with white section and the other for the shiny red bottle.",
+    "Grasp the bottle with curved body and the bottle with white and yellow label simultaneously.",
+    "Lift the curvy orange bottle with white section and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Take hold of the curvy orange bottle with white section and the shiny red bottle at once.",
+    "Pick up the bottle with curved body and the bottle with yellow Chinese characters in parallel.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the shiny red bottle.",
+    "Pick up both the bottle with curved body and the shiny red bottle together.",
+    "Raise both different bottles, the bottle with curved body and the bottle with white and yellow label, together.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the bottle with yellow Chinese characters.",
+    "Grab the bottle with yellow sticker label and the shiny red bottle at the same time.",
+    "Use one arm for the bottle with curved body and the other for the bottle with yellow Chinese characters.",
+    "Grasp the curvy orange bottle with white section and the shiny red bottle simultaneously.",
+    "Lift the bottle with curved body and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the bottle with yellow Chinese characters at once.",
+    "Pick up the bottle with yellow sticker label and the bottle with yellow Chinese characters in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the bottle with white and yellow label.",
+    "Pick up both the bottle with yellow sticker label and the shiny red bottle together.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with white and yellow label, together.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the bottle with white and yellow label.",
+    "Grab the bottle with yellow sticker label and the bottle with white and yellow label at the same time.",
+    "Use one arm for the bottle with curved body and the other for the shiny red bottle.",
+    "Grasp the curvy orange bottle with white section and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with yellow sticker label and the shiny red bottle simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the bottle with yellow Chinese characters at once.",
+    "Pick up the bottle with curved body and the shiny red bottle in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up both the bottle with curved body and the shiny red bottle together.",
+    "Raise both different bottles, the bottle with yellow sticker label and the bottle with white and yellow label, together.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the bottle with yellow Chinese characters.",
+    "Grab the bottle with curved body and the bottle with white and yellow label at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the shiny red bottle.",
+    "Grasp the curvy orange bottle with white section and the bottle with yellow Chinese characters simultaneously.",
+    "Lift the curvy orange bottle with white section and the shiny red bottle simultaneously with separate arms.",
+    "Take hold of the curvy orange bottle with white section and the bottle with white and yellow label at once.",
+    "Pick up the bottle with curved body and the bottle with yellow Chinese characters in parallel.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with white and yellow label.",
+    "Pick up both the bottle with yellow sticker label and the shiny red bottle together.",
+    "Raise both different bottles, the bottle with yellow sticker label and the bottle with white and yellow label, together.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the bottle with white and yellow label.",
+    "Grab the bottle with yellow sticker label and the shiny red bottle at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the shiny red bottle.",
+    "Grasp the bottle with curved body and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with curved body and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the shiny red bottle at once.",
+    "Pick up the bottle with yellow sticker label and the shiny red bottle in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the bottle with white and yellow label.",
+    "Pick up both the curvy orange bottle with white section and the bottle with yellow Chinese characters together.",
+    "Raise both different bottles, the curvy orange bottle with white section and the shiny red bottle, together.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the bottle with yellow Chinese characters.",
+    "Grab the bottle with curved body and the bottle with white and yellow label at the same time.",
+    "Use one arm for the curvy orange bottle with white section and the other for the shiny red bottle.",
+    "Grasp the bottle with curved body and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with yellow sticker label and the bottle with white and yellow label simultaneously with separate arms.",
+    "Take hold of the bottle with curved body and the shiny red bottle at once.",
+    "Pick up the bottle with yellow sticker label and the bottle with white and yellow label in parallel.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with white and yellow label.",
+    "Pick up both the bottle with curved body and the bottle with white and yellow label together.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with white and yellow label, together.",
+    "Use each arm to grab one of the bottle with curved body and the bottle with white and yellow label.",
+    "Grab the bottle with curved body and the bottle with white and yellow label at the same time.",
+    "Use one arm for the bottle with curved body and the other for the shiny red bottle.",
+    "Grasp the curvy orange bottle with white section and the bottle with yellow Chinese characters simultaneously.",
+    "Lift the bottle with curved body and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Take hold of the bottle with curved body and the shiny red bottle at once.",
+    "Pick up the bottle with curved body and the bottle with yellow Chinese characters in parallel.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with white and yellow label.",
+    "Pick up both the bottle with yellow sticker label and the bottle with yellow Chinese characters together.",
+    "Raise both different bottles, the bottle with yellow sticker label and the bottle with yellow Chinese characters, together.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the shiny red bottle.",
+    "Grab the bottle with curved body and the bottle with white and yellow label at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the shiny red bottle.",
+    "Grasp the bottle with yellow sticker label and the bottle with white and yellow label simultaneously.",
+    "Lift the curvy orange bottle with white section and the bottle with white and yellow label simultaneously with separate arms.",
+    "Take hold of the bottle with curved body and the bottle with white and yellow label at once.",
+    "Pick up the curvy orange bottle with white section and the shiny red bottle in parallel.",
+    "Lift the bottle with curved body as the other arm lifts the bottle with white and yellow label.",
+    "Pick up both the bottle with curved body and the bottle with white and yellow label together."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000019.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f072e28477808e3cbef0eb3198eacd00e72e047
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000019.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the red bottle and the bottle with white cap together.",
+    "Grasp the red bottle with curved grooves as the other arm grasps the smooth bottle with rounded edges.",
+    "Use separate arms to lift the smooth red cylindrical bottle and the yellow plastic bottle with white top.",
+    "Take the plastic bottle with bright red color and the medium rectangular yellow bottle together, one per arm.",
+    "Use both arms to grasp the yellow text bottle and the rectangular bottle with cylindrical neck together.",
+    "Pick the red bottle with curved grooves while the other arm picks the bottle with white cap.",
+    "Assign one arm to the handheld plastic bottle and one to the bottle with a smooth plastic body.",
+    "Pick up the plastic bottle with bright red color and the bottle with green label simultaneously.",
+    "Use both arms simultaneously for the yellow text bottle and the rectangular bottle with cylindrical neck.",
+    "Lift the red bottle with screw cap and the yellow bottle together with both arms.",
+    "Simultaneously grasp and lift the red bottle with white bottom text and the yellow plastic bottle with white top.",
+    "Hold both the plastic bottle and the smooth bottle with rounded edges, one in each arm.",
+    "Raise both bottles at once: the smooth red cylindrical bottle and the plastic bottle.",
+    "Take hold of the red bottle with screw cap and the rectangular bottle with cylindrical neck at once.",
+    "Lift the red bottle and the yellow plastic bottle with white top in one synchronized motion.",
+    "Hold the red bottle with curved grooves in one arm and the bottle with green label in the other.",
+    "Pick up both the red bottle with narrow neck and the yellow bottle using separate arms.",
+    "Each arm should grab one bottle: the red bottle with white bottom text and the plastic bottle.",
+    "Raise the medium-size plastic bottle and the yellow bottle with a green design at the same time.",
+    "Pick the red bottle with curved grooves and the bottle with green and white labels up in parallel.",
+    "Raise the yellow text bottle with one arm and the yellow bottle with the other.",
+    "Grab the bottle with red cap and the bottle with green label at the same time.",
+    "Grab both bottles in parallel, the yellow text bottle and the rectangular bottle with cylindrical neck.",
+    "Use each arm to secure one of the yellow text bottle and the bottle with green label.",
+    "Pick up the pair the plastic bottle with bright red color and the bottle with a smooth plastic body together.",
+    "Lift both different bottles, the red bottle and the bottle with a smooth plastic body, together.",
+    "Secure both the medium-size plastic bottle and the yellow plastic bottle with white top simultaneously.",
+    "Reach for the plastic bottle and the plastic bottle with both arms at once.",
+    "Use one arm for the medium-size plastic bottle and the other for the yellow plastic bottle with white top.",
+    "Grasp the different bottles the handheld plastic bottle and the yellow plastic bottle with white top simultaneously.",
+    "Catch the handheld plastic bottle and the yellow plastic bottle with white top together.",
+    "Grasp the red bottle with white bottom text as the other arm grasps the rectangular bottle with cylindrical neck.",
+    "Use separate arms to lift the red bottle with white bottom text and the bottle with a smooth plastic body.",
+    "Take the plastic bottle with bright red color and the bottle with white cap together, one per arm.",
+    "Use both arms to grasp the red bottle with curved grooves and the yellow container with rounded edges together.",
+    "Pick the plastic bottle with bright red color while the other arm picks the plastic bottle.",
+    "Assign one arm to the bottle with red cap and one to the yellow bottle.",
+    "Pick up the handheld plastic bottle and the medium rectangular yellow bottle simultaneously.",
+    "Use both arms simultaneously for the red bottle and the yellow bottle.",
+    "Lift the medium-size plastic bottle and the bottle with green and white labels together with both arms.",
+    "Simultaneously grasp and lift the red bottle with screw cap and the yellow container with rounded edges.",
+    "Hold both the smooth red cylindrical bottle and the rectangular bottle with cylindrical neck, one in each arm.",
+    "Raise both bottles at once: the plastic bottle with bright red color and the yellow bottle with a green design.",
+    "Take hold of the red bottle with screw cap and the yellow container with rounded edges at once.",
+    "Lift the red bottle with curved grooves and the yellow bottle in one synchronized motion.",
+    "Hold the handheld plastic bottle in one arm and the yellow bottle in the other.",
+    "Pick up both the handheld plastic bottle and the yellow bottle using separate arms.",
+    "Each arm should grab one bottle: the red bottle with curved grooves and the bottle with a smooth plastic body.",
+    "Raise the medium-size plastic bottle and the bottle with green label at the same time.",
+    "Pick the red bottle with narrow neck and the bottle with a smooth plastic body up in parallel.",
+    "Raise the medium-size plastic bottle with one arm and the plastic bottle with the other.",
+    "Grab the plastic bottle with bright red color and the plastic bottle at the same time.",
+    "Grab both bottles in parallel, the red bottle with curved grooves and the yellow bottle with a green design.",
+    "Use each arm to secure one of the medium-size plastic bottle and the yellow bottle.",
+    "Pick up the pair the yellow text bottle and the bottle with white cap together.",
+    "Lift both different bottles, the yellow text bottle and the rectangular bottle with cylindrical neck, together.",
+    "Secure both the medium-size plastic bottle and the bottle with white cap simultaneously.",
+    "Reach for the red bottle with narrow neck and the bottle with white cap with both arms at once.",
+    "Use one arm for the red bottle with narrow neck and the other for the plastic bottle.",
+    "Grasp the different bottles the plastic bottle and the plastic bottle simultaneously.",
+    "Catch the red bottle with screw cap and the bottle with green label together.",
+    "Grasp the red bottle with screw cap as the other arm grasps the yellow plastic bottle with white top.",
+    "Use separate arms to lift the red bottle with curved grooves and the medium rectangular yellow bottle.",
+    "Take the red bottle with screw cap and the yellow bottle together, one per arm.",
+    "Use both arms to grasp the red bottle with curved grooves and the smooth bottle with rounded edges together.",
+    "Pick the handheld plastic bottle while the other arm picks the plastic bottle.",
+    "Assign one arm to the red bottle with white bottom text and one to the yellow bottle with a green design.",
+    "Pick up the red bottle with screw cap and the yellow bottle with a green design simultaneously.",
+    "Use both arms simultaneously for the red bottle with screw cap and the bottle with white cap.",
+    "Lift the smooth red cylindrical bottle and the yellow bottle together with both arms.",
+    "Simultaneously grasp and lift the red bottle and the bottle with a smooth plastic body.",
+    "Hold both the plastic bottle with bright red color and the bottle with white cap, one in each arm.",
+    "Raise both bottles at once: the bottle with red cap and the yellow bottle.",
+    "Take hold of the red bottle with white bottom text and the yellow plastic bottle with white top at once.",
+    "Lift the red bottle with narrow neck and the yellow plastic bottle with white top in one synchronized motion.",
+    "Hold the red bottle with white bottom text in one arm and the yellow container with rounded edges in the other.",
+    "Pick up both the yellow text bottle and the yellow bottle using separate arms.",
+    "Each arm should grab one bottle: the red bottle with curved grooves and the smooth bottle with rounded edges.",
+    "Raise the red bottle with white bottom text and the yellow bottle at the same time.",
+    "Pick the red bottle with curved grooves and the yellow bottle up in parallel.",
+    "Raise the red bottle with curved grooves with one arm and the yellow plastic bottle with white top with the other.",
+    "Grab the smooth red cylindrical bottle and the yellow bottle at the same time.",
+    "Grab both bottles in parallel, the red bottle and the plastic bottle.",
+    "Use each arm to secure one of the red bottle and the bottle with a smooth plastic body.",
+    "Pick up the pair the plastic bottle and the yellow bottle together.",
+    "Lift both different bottles, the red bottle with screw cap and the plastic bottle, together.",
+    "Secure both the red bottle and the bottle with white cap simultaneously.",
+    "Reach for the bottle with red cap and the yellow plastic bottle with white top with both arms at once.",
+    "Use one arm for the plastic bottle and the other for the bottle with white cap.",
+    "Grasp the different bottles the red bottle and the medium rectangular yellow bottle simultaneously.",
+    "Catch the medium-size plastic bottle and the rectangular bottle with cylindrical neck together.",
+    "Grasp the red bottle with screw cap as the other arm grasps the plastic bottle.",
+    "Use separate arms to lift the bottle with red cap and the rectangular bottle with cylindrical neck.",
+    "Take the red bottle and the yellow container with rounded edges together, one per arm.",
+    "Use both arms to grasp the red bottle with screw cap and the medium rectangular yellow bottle together.",
+    "Pick the plastic bottle while the other arm picks the bottle with white cap.",
+    "Assign one arm to the red bottle with curved grooves and one to the bottle with green label.",
+    "Pick up the smooth red cylindrical bottle and the rectangular bottle with cylindrical neck simultaneously.",
+    "Use both arms simultaneously for the medium-size plastic bottle and the rectangular bottle with cylindrical neck.",
+    "Lift the yellow text bottle and the rectangular bottle with cylindrical neck together with both arms."
+  ],
+  "unseen": [
+    "Take hold of the bottle with white and yellow label and the yellow rectangular bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and the hand-sized yellow plastic bottle in parallel.",
+    "Lift the bottle with yellow Chinese characters and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the shiny red bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the bottle with yellow Chinese characters and the hand-sized yellow plastic bottle at the same time.",
+    "Raise both different bottles, the bottle with yellow Chinese characters and the yellow bottle for liquid storage, together.",
+    "Use each arm to grab one of the bottle with white and yellow label and the hand-sized yellow plastic bottle.",
+    "Grasp the bottle with white and yellow label and the yellow bottle for liquid storage simultaneously.",
+    "Use one arm for the bottle with white and yellow label and the other for the yellow rectangular bottle.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the hand-sized yellow plastic bottle.",
+    "Take hold of the shiny red bottle and the yellow rectangular bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and the yellow bottle for liquid storage in parallel.",
+    "Lift the shiny red bottle and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the shiny red bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the bottle with white and yellow label and the hand-sized yellow plastic bottle at the same time.",
+    "Raise both different bottles, the shiny red bottle and the hand-sized yellow plastic bottle, together.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the hand-sized yellow plastic bottle.",
+    "Grasp the shiny red bottle and the yellow rectangular bottle simultaneously.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the yellow rectangular bottle.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the yellow bottle for liquid storage.",
+    "Take hold of the shiny red bottle and the yellow bottle for liquid storage at once.",
+    "Pick up the bottle with white and yellow label and the yellow rectangular bottle in parallel.",
+    "Lift the bottle with yellow Chinese characters and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the bottle with yellow Chinese characters and the yellow rectangular bottle together.",
+    "Grab the bottle with white and yellow label and the yellow bottle for liquid storage at the same time.",
+    "Raise both different bottles, the shiny red bottle and the yellow bottle for liquid storage, together.",
+    "Use each arm to grab one of the bottle with white and yellow label and the hand-sized yellow plastic bottle.",
+    "Grasp the shiny red bottle and the hand-sized yellow plastic bottle simultaneously.",
+    "Use one arm for the bottle with white and yellow label and the other for the yellow rectangular bottle.",
+    "Lift the bottle with white and yellow label as the other arm lifts the hand-sized yellow plastic bottle.",
+    "Take hold of the shiny red bottle and the hand-sized yellow plastic bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and the yellow bottle for liquid storage in parallel.",
+    "Lift the bottle with white and yellow label and the hand-sized yellow plastic bottle simultaneously with separate arms.",
+    "Pick up both the bottle with white and yellow label and the yellow rectangular bottle together.",
+    "Grab the bottle with white and yellow label and the yellow bottle for liquid storage at the same time.",
+    "Raise both different bottles, the bottle with yellow Chinese characters and the yellow bottle for liquid storage, together.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the yellow bottle for liquid storage.",
+    "Grasp the shiny red bottle and the hand-sized yellow plastic bottle simultaneously.",
+    "Use one arm for the bottle with white and yellow label and the other for the hand-sized yellow plastic bottle.",
+    "Lift the shiny red bottle as the other arm lifts the yellow bottle for liquid storage.",
+    "Take hold of the bottle with yellow Chinese characters and the yellow rectangular bottle at once.",
+    "Pick up the shiny red bottle and the yellow rectangular bottle in parallel.",
+    "Lift the shiny red bottle and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the bottle with white and yellow label and the hand-sized yellow plastic bottle together.",
+    "Grab the shiny red bottle and the yellow bottle for liquid storage at the same time.",
+    "Raise both different bottles, the bottle with yellow Chinese characters and the yellow bottle for liquid storage, together.",
+    "Use each arm to grab one of the bottle with white and yellow label and the yellow bottle for liquid storage.",
+    "Grasp the bottle with yellow Chinese characters and the yellow rectangular bottle simultaneously.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the yellow rectangular bottle.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the yellow bottle for liquid storage.",
+    "Take hold of the bottle with yellow Chinese characters and the yellow rectangular bottle at once.",
+    "Pick up the shiny red bottle and the yellow rectangular bottle in parallel.",
+    "Lift the bottle with white and yellow label and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the bottle with white and yellow label and the yellow rectangular bottle together.",
+    "Grab the shiny red bottle and the yellow rectangular bottle at the same time.",
+    "Raise both different bottles, the bottle with white and yellow label and the hand-sized yellow plastic bottle, together.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the hand-sized yellow plastic bottle.",
+    "Grasp the bottle with yellow Chinese characters and the yellow bottle for liquid storage simultaneously.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the hand-sized yellow plastic bottle.",
+    "Lift the bottle with white and yellow label as the other arm lifts the yellow rectangular bottle.",
+    "Take hold of the shiny red bottle and the yellow rectangular bottle at once.",
+    "Pick up the shiny red bottle and the hand-sized yellow plastic bottle in parallel.",
+    "Lift the bottle with yellow Chinese characters and the yellow bottle for liquid storage simultaneously with separate arms.",
+    "Pick up both the shiny red bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the shiny red bottle and the yellow bottle for liquid storage at the same time.",
+    "Raise both different bottles, the shiny red bottle and the yellow bottle for liquid storage, together.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the yellow bottle for liquid storage.",
+    "Grasp the bottle with yellow Chinese characters and the yellow bottle for liquid storage simultaneously.",
+    "Use one arm for the bottle with white and yellow label and the other for the hand-sized yellow plastic bottle.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the yellow rectangular bottle.",
+    "Take hold of the bottle with white and yellow label and the yellow rectangular bottle at once.",
+    "Pick up the bottle with white and yellow label and the yellow bottle for liquid storage in parallel.",
+    "Lift the bottle with white and yellow label and the hand-sized yellow plastic bottle simultaneously with separate arms.",
+    "Pick up both the shiny red bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the bottle with white and yellow label and the yellow rectangular bottle at the same time.",
+    "Raise both different bottles, the bottle with white and yellow label and the hand-sized yellow plastic bottle, together.",
+    "Use each arm to grab one of the shiny red bottle and the yellow bottle for liquid storage.",
+    "Grasp the bottle with yellow Chinese characters and the yellow rectangular bottle simultaneously.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the yellow rectangular bottle.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the yellow rectangular bottle.",
+    "Take hold of the bottle with yellow Chinese characters and the yellow rectangular bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and the hand-sized yellow plastic bottle in parallel.",
+    "Lift the bottle with white and yellow label and the yellow rectangular bottle simultaneously with separate arms.",
+    "Pick up both the shiny red bottle and the yellow rectangular bottle together.",
+    "Grab the bottle with white and yellow label and the hand-sized yellow plastic bottle at the same time.",
+    "Raise both different bottles, the bottle with white and yellow label and the yellow rectangular bottle, together.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the hand-sized yellow plastic bottle.",
+    "Grasp the shiny red bottle and the yellow rectangular bottle simultaneously.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the yellow rectangular bottle.",
+    "Lift the shiny red bottle as the other arm lifts the yellow bottle for liquid storage.",
+    "Take hold of the shiny red bottle and the hand-sized yellow plastic bottle at once.",
+    "Pick up the bottle with white and yellow label and the hand-sized yellow plastic bottle in parallel.",
+    "Lift the bottle with yellow Chinese characters and the hand-sized yellow plastic bottle simultaneously with separate arms.",
+    "Pick up both the shiny red bottle and the hand-sized yellow plastic bottle together.",
+    "Grab the bottle with yellow Chinese characters and the yellow rectangular bottle at the same time.",
+    "Raise both different bottles, the shiny red bottle and the yellow bottle for liquid storage, together.",
+    "Use each arm to grab one of the bottle with white and yellow label and the yellow rectangular bottle.",
+    "Grasp the shiny red bottle and the yellow rectangular bottle simultaneously.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the hand-sized yellow plastic bottle.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the yellow bottle for liquid storage."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000020.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a41eca3f21a2be005236ea771fd194de3156c1d
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000020.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use each arm to secure one of the green bottle and the black bottle.",
+    "Catch the bottle with glossy plastic finish and the yellow-capped cylindrical bottle together.",
+    "Use both arms simultaneously for the cylindrical liquid bottle with yellow top and the yellow capped drink bottle.",
+    "Use both arms to grasp the bottle with yellow cap and the black bottle together.",
+    "Lift both different bottles, the green bottle and the medium bottle with yellow cap, together.",
+    "Reach for the smooth green and yellow bottle and the smooth black bottle with ridges with both arms at once.",
+    "Grab the smooth green and yellow bottle and the black plastic bottle with Pepsi logo at the same time.",
+    "Raise the bottle with glossy plastic finish with one arm and the yellow capped drink bottle with the other.",
+    "Pick up both the green bottle with black text label and the yellow-capped cylindrical bottle using separate arms.",
+    "Grab both bottles in parallel, the cylindrical liquid bottle with yellow top and the black bottle.",
+    "Grasp the green bottle with black text label as the other arm grasps the yellow capped drink bottle.",
+    "Secure both the cylindrical liquid bottle with yellow top and the black bottle simultaneously.",
+    "Pick the green bottle with white label while the other arm picks the black plastic bottle with Pepsi logo.",
+    "Raise the bottle with glossy plastic finish and the medium bottle with yellow cap at the same time.",
+    "Lift the cylindrical bottle with rounded cap and the bottle with blue and yellow print in one synchronized motion.",
+    "Grasp the different bottles the bottle with yellow cap and the bottle with blue and yellow print simultaneously.",
+    "Assign one arm to the cylindrical bottle with rounded cap and one to the beverage bottle with black body.",
+    "Hold the medium bottle with green body in one arm and the black bottle in the other.",
+    "Use separate arms to lift the cylindrical bottle with rounded cap and the black plastic bottle with Pepsi logo.",
+    "Hold both the handheld plastic bottle and the black bottle, one in each arm.",
+    "Lift the bottle with yellow cap and the black cylindrical bottle with ridges together with both arms.",
+    "Take the plastic bottle and the yellow capped drink bottle together, one per arm.",
+    "Take hold of the green bottle with black text label and the medium black bottle with printed label at once.",
+    "Raise both bottles at once: the green bottle with black text label and the plastic bottle with colorful label.",
+    "Simultaneously grasp and lift the smooth green and yellow bottle and the yellow-capped cylindrical bottle.",
+    "Pick up the pair the cylindrical bottle with rounded cap and the black bottle together.",
+    "Pick the cylindrical liquid bottle with yellow top and the black plastic bottle with Pepsi logo up in parallel.",
+    "Pick up the handheld plastic bottle and the medium bottle with yellow cap simultaneously.",
+    "Use one arm for the bottle with yellow cap and the other for the medium black bottle with printed label.",
+    "Each arm should grab one bottle: the handheld plastic bottle and the beverage bottle with black body.",
+    "Use each arm to secure one of the bottle with glossy plastic finish and the smooth black bottle with ridges.",
+    "Catch the bottle with yellow cap and the medium bottle with yellow cap together.",
+    "Use both arms simultaneously for the cylindrical liquid bottle with yellow top and the drink bottle with rounded yellow lid.",
+    "Use both arms to grasp the plastic bottle with colored label and the yellow capped drink bottle together.",
+    "Lift both different bottles, the cylindrical liquid bottle with yellow top and the bottle with blue and yellow print, together.",
+    "Reach for the green bottle with black text label and the beverage bottle with black body with both arms at once.",
+    "Grab the medium bottle with green body and the black cylindrical bottle with ridges at the same time.",
+    "Raise the cylindrical bottle with rounded cap with one arm and the black cylindrical bottle with ridges with the other.",
+    "Pick up both the green bottle with white label and the black bottle using separate arms.",
+    "Grab both bottles in parallel, the green bottle and the black bottle.",
+    "Grasp the green bottle with black text label as the other arm grasps the medium black bottle with printed label.",
+    "Secure both the plastic bottle with colored label and the beverage bottle with black body simultaneously.",
+    "Pick the green bottle with black text label while the other arm picks the black cylindrical bottle with ridges.",
+    "Raise the handheld plastic bottle and the black cylindrical bottle with ridges at the same time.",
+    "Lift the cylindrical bottle with rounded cap and the bottle with blue and yellow print in one synchronized motion.",
+    "Grasp the different bottles the handheld plastic bottle and the smooth black bottle with ridges simultaneously.",
+    "Assign one arm to the plastic bottle and one to the medium black bottle with printed label.",
+    "Hold the handheld plastic bottle in one arm and the drink bottle with rounded yellow lid in the other.",
+    "Use separate arms to lift the bottle with yellow cap and the beverage bottle with black body.",
+    "Hold both the cylindrical liquid bottle with yellow top and the drink bottle with rounded yellow lid, one in each arm.",
+    "Lift the bottle with yellow cap and the black plastic bottle with Pepsi logo together with both arms.",
+    "Take the cylindrical liquid bottle with yellow top and the bottle with blue and yellow print together, one per arm.",
+    "Take hold of the green bottle with white label and the drink bottle with rounded yellow lid at once.",
+    "Raise both bottles at once: the cylindrical liquid bottle with yellow top and the bottle with blue and yellow print.",
+    "Simultaneously grasp and lift the plastic bottle and the black bottle.",
+    "Pick up the pair the green bottle with white label and the drink bottle with rounded yellow lid together.",
+    "Pick the green bottle with black text label and the plastic bottle with colorful label up in parallel.",
+    "Pick up the plastic bottle and the beverage bottle with black body simultaneously.",
+    "Use one arm for the medium bottle with green body and the other for the medium black bottle with printed label.",
+    "Each arm should grab one bottle: the cylindrical liquid bottle with yellow top and the black plastic bottle with Pepsi logo.",
+    "Use each arm to secure one of the green bottle with white label and the black plastic bottle with Pepsi logo.",
+    "Catch the cylindrical liquid bottle with yellow top and the black cylindrical bottle with ridges together.",
+    "Use both arms simultaneously for the cylindrical liquid bottle with yellow top and the plastic bottle with colorful label.",
+    "Use both arms to grasp the handheld plastic bottle and the smooth black bottle with ridges together.",
+    "Lift both different bottles, the smooth green and yellow bottle and the black bottle, together.",
+    "Reach for the green bottle with white label and the smooth black bottle with ridges with both arms at once.",
+    "Grab the bottle with glossy plastic finish and the medium black bottle with printed label at the same time.",
+    "Raise the bottle with glossy plastic finish with one arm and the medium black bottle with printed label with the other.",
+    "Pick up both the cylindrical bottle with rounded cap and the yellow-capped cylindrical bottle using separate arms.",
+    "Grab both bottles in parallel, the smooth green and yellow bottle and the bottle with blue and yellow print.",
+    "Grasp the smooth green and yellow bottle as the other arm grasps the yellow capped drink bottle.",
+    "Secure both the smooth green and yellow bottle and the beverage bottle with black body simultaneously.",
+    "Pick the plastic bottle with colored label while the other arm picks the yellow capped drink bottle.",
+    "Raise the smooth green and yellow bottle and the black plastic bottle with Pepsi logo at the same time.",
+    "Lift the green bottle with white label and the plastic bottle with colorful label in one synchronized motion.",
+    "Grasp the different bottles the green bottle with white label and the beverage bottle with black body simultaneously.",
+    "Assign one arm to the green bottle with white label and one to the yellow capped drink bottle.",
+    "Hold the green bottle with white label in one arm and the black cylindrical bottle with ridges in the other.",
+    "Use separate arms to lift the cylindrical liquid bottle with yellow top and the medium black bottle with printed label.",
+    "Hold both the cylindrical bottle with rounded cap and the smooth black bottle with ridges, one in each arm.",
+    "Lift the handheld plastic bottle and the beverage bottle with black body together with both arms.",
+    "Take the green bottle and the plastic bottle with colorful label together, one per arm.",
+    "Take hold of the cylindrical bottle with rounded cap and the smooth black bottle with ridges at once.",
+    "Raise both bottles at once: the handheld plastic bottle and the smooth black bottle with ridges.",
+    "Simultaneously grasp and lift the green bottle with black text label and the black plastic bottle with Pepsi logo.",
+    "Pick up the pair the green bottle with white label and the plastic bottle with colorful label together.",
+    "Pick the bottle with glossy plastic finish and the yellow capped drink bottle up in parallel.",
+    "Pick up the cylindrical bottle with rounded cap and the beverage bottle with black body simultaneously.",
+    "Use one arm for the bottle with glossy plastic finish and the other for the plastic bottle with colorful label.",
+    "Each arm should grab one bottle: the bottle with glossy plastic finish and the yellow-capped cylindrical bottle.",
+    "Use each arm to secure one of the smooth green and yellow bottle and the drink bottle with rounded yellow lid.",
+    "Catch the green bottle with black text label and the beverage bottle with black body together.",
+    "Use both arms simultaneously for the green bottle with white label and the black cylindrical bottle with ridges.",
+    "Use both arms to grasp the green bottle with black text label and the yellow-capped cylindrical bottle together.",
+    "Lift both different bottles, the green bottle with white label and the yellow-capped cylindrical bottle, together.",
+    "Reach for the cylindrical bottle with rounded cap and the drink bottle with rounded yellow lid with both arms at once.",
+    "Grab the bottle with glossy plastic finish and the medium bottle with yellow cap at the same time.",
+    "Raise the bottle with glossy plastic finish with one arm and the drink bottle with rounded yellow lid with the other.",
+    "Pick up both the green bottle and the yellow capped drink bottle using separate arms.",
+    "Grab both bottles in parallel, the green bottle and the bottle with blue and yellow print."
+  ],
+  "unseen": [
+    "Grab the medium-sized drink bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Lift the bottle with green base and black prints and the bottle with ridges near base simultaneously with separate arms.",
+    "Pick up both the bottle with green base and black prints and the hand-sized bottle with ridged bottom together.",
+    "Take hold of the bottle with green base and black prints and the hand-sized bottle with ridged bottom at once.",
+    "Pick up the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom in parallel.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom.",
+    "Use one arm for the bottle with green base and black prints and the other for the plastic bottle with blue label.",
+    "Lift the bottle with green base and black prints as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Raise both different bottles, the bottle with green base and black prints and the plastic bottle with blue label, together.",
+    "Grasp the bottle with green base and black prints and the bottle with ridges near base simultaneously.",
+    "Grab the medium-sized drink bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Lift the medium-sized drink bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Pick up both the yellow-capped bottle with smooth surface and the bottle with ridges near base together.",
+    "Take hold of the yellow-capped bottle with smooth surface and the bottle with ridges near base at once.",
+    "Pick up the yellow-capped bottle with smooth surface and the bottle with ridges near base in parallel.",
+    "Use each arm to grab one of the medium-sized drink bottle and the plastic bottle with blue label.",
+    "Use one arm for the medium-sized drink bottle and the other for the bottle with ridges near base.",
+    "Lift the medium-sized drink bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Raise both different bottles, the medium-sized drink bottle and the hand-sized bottle with ridged bottom, together.",
+    "Grasp the bottle with green base and black prints and the hand-sized bottle with ridged bottom simultaneously.",
+    "Grab the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom at the same time.",
+    "Lift the bottle with green base and black prints and the bottle with ridges near base simultaneously with separate arms.",
+    "Pick up both the bottle with green base and black prints and the bottle with ridges near base together.",
+    "Take hold of the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom at once.",
+    "Pick up the yellow-capped bottle with smooth surface and the bottle with ridges near base in parallel.",
+    "Use each arm to grab one of the bottle with green base and black prints and the bottle with ridges near base.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the bottle with ridges near base.",
+    "Lift the medium-sized drink bottle as the other arm lifts the bottle with ridges near base.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom, together.",
+    "Grasp the bottle with green base and black prints and the bottle with ridges near base simultaneously.",
+    "Grab the medium-sized drink bottle and the plastic bottle with blue label at the same time.",
+    "Lift the bottle with green base and black prints and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Pick up both the medium-sized drink bottle and the hand-sized bottle with ridged bottom together.",
+    "Take hold of the medium-sized drink bottle and the plastic bottle with blue label at once.",
+    "Pick up the bottle with green base and black prints and the bottle with ridges near base in parallel.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the bottle with ridges near base.",
+    "Use one arm for the bottle with green base and black prints and the other for the bottle with ridges near base.",
+    "Lift the bottle with green base and black prints as the other arm lifts the plastic bottle with blue label.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the plastic bottle with blue label, together.",
+    "Grasp the bottle with green base and black prints and the hand-sized bottle with ridged bottom simultaneously.",
+    "Grab the bottle with green base and black prints and the hand-sized bottle with ridged bottom at the same time.",
+    "Lift the medium-sized drink bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Pick up both the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom together.",
+    "Take hold of the bottle with green base and black prints and the hand-sized bottle with ridged bottom at once.",
+    "Pick up the bottle with green base and black prints and the hand-sized bottle with ridged bottom in parallel.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the plastic bottle with blue label.",
+    "Use one arm for the medium-sized drink bottle and the other for the plastic bottle with blue label.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the plastic bottle with blue label.",
+    "Raise both different bottles, the bottle with green base and black prints and the bottle with ridges near base, together.",
+    "Grasp the bottle with green base and black prints and the hand-sized bottle with ridged bottom simultaneously.",
+    "Grab the medium-sized drink bottle and the bottle with ridges near base at the same time.",
+    "Lift the medium-sized drink bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Pick up both the bottle with green base and black prints and the bottle with ridges near base together.",
+    "Take hold of the bottle with green base and black prints and the plastic bottle with blue label at once.",
+    "Pick up the medium-sized drink bottle and the plastic bottle with blue label in parallel.",
+    "Use each arm to grab one of the bottle with green base and black prints and the bottle with ridges near base.",
+    "Use one arm for the medium-sized drink bottle and the other for the plastic bottle with blue label.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the bottle with ridges near base.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the plastic bottle with blue label, together.",
+    "Grasp the bottle with green base and black prints and the bottle with ridges near base simultaneously.",
+    "Grab the yellow-capped bottle with smooth surface and the bottle with ridges near base at the same time.",
+    "Lift the yellow-capped bottle with smooth surface and the bottle with ridges near base simultaneously with separate arms.",
+    "Pick up both the yellow-capped bottle with smooth surface and the plastic bottle with blue label together.",
+    "Take hold of the medium-sized drink bottle and the hand-sized bottle with ridged bottom at once.",
+    "Pick up the medium-sized drink bottle and the hand-sized bottle with ridged bottom in parallel.",
+    "Use each arm to grab one of the bottle with green base and black prints and the bottle with ridges near base.",
+    "Use one arm for the bottle with green base and black prints and the other for the hand-sized bottle with ridged bottom.",
+    "Lift the bottle with green base and black prints as the other arm lifts the bottle with ridges near base.",
+    "Raise both different bottles, the medium-sized drink bottle and the hand-sized bottle with ridged bottom, together.",
+    "Grasp the medium-sized drink bottle and the plastic bottle with blue label simultaneously.",
+    "Grab the bottle with green base and black prints and the hand-sized bottle with ridged bottom at the same time.",
+    "Lift the yellow-capped bottle with smooth surface and the plastic bottle with blue label simultaneously with separate arms.",
+    "Pick up both the yellow-capped bottle with smooth surface and the hand-sized bottle with ridged bottom together.",
+    "Take hold of the bottle with green base and black prints and the bottle with ridges near base at once.",
+    "Pick up the bottle with green base and black prints and the hand-sized bottle with ridged bottom in parallel.",
+    "Use each arm to grab one of the medium-sized drink bottle and the plastic bottle with blue label.",
+    "Use one arm for the medium-sized drink bottle and the other for the bottle with ridges near base.",
+    "Lift the medium-sized drink bottle as the other arm lifts the plastic bottle with blue label.",
+    "Raise both different bottles, the yellow-capped bottle with smooth surface and the bottle with ridges near base, together.",
+    "Grasp the bottle with green base and black prints and the hand-sized bottle with ridged bottom simultaneously.",
+    "Grab the yellow-capped bottle with smooth surface and the plastic bottle with blue label at the same time.",
+    "Lift the medium-sized drink bottle and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Pick up both the medium-sized drink bottle and the hand-sized bottle with ridged bottom together.",
+    "Take hold of the medium-sized drink bottle and the plastic bottle with blue label at once.",
+    "Pick up the yellow-capped bottle with smooth surface and the plastic bottle with blue label in parallel.",
+    "Use each arm to grab one of the bottle with green base and black prints and the bottle with ridges near base.",
+    "Use one arm for the yellow-capped bottle with smooth surface and the other for the hand-sized bottle with ridged bottom.",
+    "Lift the yellow-capped bottle with smooth surface as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Raise both different bottles, the medium-sized drink bottle and the plastic bottle with blue label, together.",
+    "Grasp the bottle with green base and black prints and the hand-sized bottle with ridged bottom simultaneously.",
+    "Grab the bottle with green base and black prints and the bottle with ridges near base at the same time.",
+    "Lift the yellow-capped bottle with smooth surface and the plastic bottle with blue label simultaneously with separate arms.",
+    "Pick up both the medium-sized drink bottle and the bottle with ridges near base together.",
+    "Take hold of the yellow-capped bottle with smooth surface and the plastic bottle with blue label at once.",
+    "Pick up the yellow-capped bottle with smooth surface and the bottle with ridges near base in parallel.",
+    "Use each arm to grab one of the yellow-capped bottle with smooth surface and the bottle with ridges near base.",
+    "Use one arm for the medium-sized drink bottle and the other for the hand-sized bottle with ridged bottom.",
+    "Lift the medium-sized drink bottle as the other arm lifts the plastic bottle with blue label.",
+    "Raise both different bottles, the bottle with green base and black prints and the plastic bottle with blue label, together.",
+    "Grasp the bottle with green base and black prints and the hand-sized bottle with ridged bottom simultaneously."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000021.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..3834ee9e169fbcf500aff0292b34c65d8e6a9c4b
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000021.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth black bottle with ridges and the bottle with dark brown color at the same time.",
+    "Hold both the drink bottle with rounded yellow lid and the bottle with dark brown color, one in each arm.",
+    "Grasp the bottle with blue and yellow print as the other arm grasps the rounded bottle with printed details.",
+    "Lift the plastic bottle with colorful label and the cylindrical bottle with narrow neck in one synchronized motion.",
+    "Raise both bottles at once: the medium bottle with yellow cap and the smooth brown bottle.",
+    "Use both arms simultaneously for the bottle with blue and yellow print and the plastic bottle with printed label.",
+    "Lift both different bottles, the medium black bottle with printed label and the bottle with brown body and white top, together.",
+    "Each arm should grab one bottle: the medium black bottle with printed label and the handheld brown bottle with white lid.",
+    "Reach for the plastic bottle with colorful label and the cylindrical bottle with narrow neck with both arms at once.",
+    "Take the medium bottle with yellow cap and the rounded bottle with printed details together, one per arm.",
+    "Use each arm to secure one of the beverage bottle with black body and the bottle with white cap.",
+    "Lift the drink bottle with rounded yellow lid and the plastic bottle for liquids together with both arms.",
+    "Pick up the pair the plastic bottle with colorful label and the bottle with dark brown color together.",
+    "Raise the yellow capped drink bottle with one arm and the medium bottle with smooth texture with the other.",
+    "Pick the yellow capped drink bottle while the other arm picks the smooth brown bottle.",
+    "Grasp the different bottles the plastic bottle with colorful label and the white-capped brown cylindrical bottle simultaneously.",
+    "Take hold of the yellow-capped cylindrical bottle and the plastic bottle with printed label at once.",
+    "Use one arm for the beverage bottle with black body and the other for the bottle with brown body and white top.",
+    "Catch the black plastic bottle with Pepsi logo and the bottle with brown body and white top together.",
+    "Grab both bottles in parallel, the black cylindrical bottle with ridges and the cylindrical bottle with narrow neck.",
+    "Pick the black bottle and the plastic bottle with printed label up in parallel.",
+    "Assign one arm to the drink bottle with rounded yellow lid and one to the rounded bottle with printed details.",
+    "Raise the black bottle and the medium bottle with smooth texture at the same time.",
+    "Secure both the bottle with blue and yellow print and the plastic bottle for liquids simultaneously.",
+    "Hold the medium black bottle with printed label in one arm and the medium plastic bottle in the other.",
+    "Pick up both the smooth black bottle with ridges and the medium bottle with smooth texture using separate arms.",
+    "Use both arms to grasp the beverage bottle with black body and the rounded bottle with printed details together.",
+    "Pick up the smooth black bottle with ridges and the medium bottle with smooth texture simultaneously.",
+    "Use separate arms to lift the plastic bottle with colorful label and the cylindrical bottle with narrow neck.",
+    "Simultaneously grasp and lift the smooth black bottle with ridges and the smooth brown bottle.",
+    "Grab the yellow capped drink bottle and the rounded bottle with printed details at the same time.",
+    "Hold both the black bottle and the plastic bottle with printed label, one in each arm.",
+    "Grasp the black bottle as the other arm grasps the plastic bottle for liquids.",
+    "Lift the plastic bottle with colorful label and the medium plastic bottle in one synchronized motion.",
+    "Raise both bottles at once: the black bottle and the medium bottle with smooth texture.",
+    "Use both arms simultaneously for the yellow-capped cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Lift both different bottles, the yellow-capped cylindrical bottle and the white-capped brown cylindrical bottle, together.",
+    "Each arm should grab one bottle: the medium black bottle with printed label and the bottle with brown body and white top.",
+    "Reach for the beverage bottle with black body and the handheld brown bottle with white lid with both arms at once.",
+    "Take the yellow-capped cylindrical bottle and the rounded bottle with printed details together, one per arm.",
+    "Use each arm to secure one of the drink bottle with rounded yellow lid and the plastic bottle with printed label.",
+    "Lift the smooth black bottle with ridges and the plastic bottle for liquids together with both arms.",
+    "Pick up the pair the drink bottle with rounded yellow lid and the handheld brown bottle with white lid together.",
+    "Raise the black bottle with one arm and the smooth brown bottle with the other.",
+    "Pick the plastic bottle with colorful label while the other arm picks the bottle with brown body and white top.",
+    "Grasp the different bottles the medium bottle with yellow cap and the handheld brown bottle with white lid simultaneously.",
+    "Take hold of the black plastic bottle with Pepsi logo and the cylindrical bottle with narrow neck at once.",
+    "Use one arm for the yellow-capped cylindrical bottle and the other for the cylindrical bottle with narrow neck.",
+    "Catch the smooth black bottle with ridges and the plastic bottle for liquids together.",
+    "Grab both bottles in parallel, the beverage bottle with black body and the bottle with white cap.",
+    "Pick the medium bottle with yellow cap and the medium bottle with smooth texture up in parallel.",
+    "Assign one arm to the drink bottle with rounded yellow lid and one to the plastic bottle with printed label.",
+    "Raise the black bottle and the bottle with white cap at the same time.",
+    "Secure both the plastic bottle with colorful label and the medium bottle with smooth texture simultaneously.",
+    "Hold the beverage bottle with black body in one arm and the bottle with dark brown color in the other.",
+    "Pick up both the plastic bottle with colorful label and the bottle with dark brown color using separate arms.",
+    "Use both arms to grasp the medium black bottle with printed label and the smooth brown bottle together.",
+    "Pick up the yellow capped drink bottle and the medium plastic bottle simultaneously.",
+    "Use separate arms to lift the medium black bottle with printed label and the bottle with white cap.",
+    "Simultaneously grasp and lift the medium bottle with yellow cap and the bottle with brown body and white top.",
+    "Grab the black cylindrical bottle with ridges and the medium bottle with smooth texture at the same time.",
+    "Hold both the black bottle and the medium plastic bottle, one in each arm.",
+    "Grasp the black bottle as the other arm grasps the bottle with dark brown color.",
+    "Lift the yellow capped drink bottle and the cylindrical bottle with narrow neck in one synchronized motion.",
+    "Raise both bottles at once: the black bottle and the bottle with white cap.",
+    "Use both arms simultaneously for the beverage bottle with black body and the smooth brown bottle.",
+    "Lift both different bottles, the black bottle and the handheld brown bottle with white lid, together.",
+    "Each arm should grab one bottle: the smooth black bottle with ridges and the rounded bottle with printed details.",
+    "Reach for the drink bottle with rounded yellow lid and the handheld brown bottle with white lid with both arms at once.",
+    "Take the smooth black bottle with ridges and the bottle with white cap together, one per arm.",
+    "Use each arm to secure one of the beverage bottle with black body and the handheld brown bottle with white lid.",
+    "Lift the plastic bottle with colorful label and the handheld brown bottle with white lid together with both arms.",
+    "Pick up the pair the black cylindrical bottle with ridges and the white-capped brown cylindrical bottle together.",
+    "Raise the drink bottle with rounded yellow lid with one arm and the bottle with brown body and white top with the other.",
+    "Pick the smooth black bottle with ridges while the other arm picks the rounded bottle with printed details.",
+    "Grasp the different bottles the black plastic bottle with Pepsi logo and the bottle with dark brown color simultaneously.",
+    "Take hold of the plastic bottle with colorful label and the rounded bottle with printed details at once.",
+    "Use one arm for the bottle with blue and yellow print and the other for the medium bottle with smooth texture.",
+    "Catch the yellow-capped cylindrical bottle and the bottle with dark brown color together.",
+    "Grab both bottles in parallel, the yellow capped drink bottle and the bottle with dark brown color.",
+    "Pick the beverage bottle with black body and the smooth brown bottle up in parallel.",
+    "Assign one arm to the bottle with blue and yellow print and one to the rounded bottle with printed details.",
+    "Raise the black plastic bottle with Pepsi logo and the bottle with white cap at the same time.",
+    "Secure both the beverage bottle with black body and the bottle with dark brown color simultaneously.",
+    "Hold the smooth black bottle with ridges in one arm and the bottle with dark brown color in the other.",
+    "Pick up both the bottle with blue and yellow print and the white-capped brown cylindrical bottle using separate arms.",
+    "Use both arms to grasp the medium bottle with yellow cap and the medium bottle with smooth texture together.",
+    "Pick up the plastic bottle with colorful label and the rounded bottle with printed details simultaneously.",
+    "Use separate arms to lift the black plastic bottle with Pepsi logo and the plastic bottle for liquids.",
+    "Simultaneously grasp and lift the yellow-capped cylindrical bottle and the rounded bottle with printed details.",
+    "Grab the medium bottle with yellow cap and the bottle with brown body and white top at the same time.",
+    "Hold both the beverage bottle with black body and the bottle with dark brown color, one in each arm.",
+    "Grasp the medium black bottle with printed label as the other arm grasps the bottle with dark brown color.",
+    "Lift the bottle with blue and yellow print and the bottle with brown body and white top in one synchronized motion.",
+    "Raise both bottles at once: the drink bottle with rounded yellow lid and the medium plastic bottle.",
+    "Use both arms simultaneously for the beverage bottle with black body and the bottle with brown body and white top.",
+    "Lift both different bottles, the drink bottle with rounded yellow lid and the handheld brown bottle with white lid, together.",
+    "Each arm should grab one bottle: the medium bottle with yellow cap and the bottle with dark brown color.",
+    "Reach for the plastic bottle with colorful label and the bottle with brown body and white top with both arms at once.",
+    "Take the drink bottle with rounded yellow lid and the medium plastic bottle together, one per arm."
+  ],
+  "unseen": [
+    "Use one arm for the plastic bottle with blue label and the other for the brown bottle.",
+    "Grab the hand-sized bottle with ridged bottom and the brown cylindrical bottle with label at the same time.",
+    "Lift the plastic bottle with blue label as the other arm lifts the lightweight plastic brown bottle.",
+    "Pick up both the hand-sized bottle with ridged bottom and the brown cylindrical bottle with label together.",
+    "Use each arm to grab one of the bottle with ridges near base and the lightweight plastic brown bottle.",
+    "Take hold of the plastic bottle with blue label and the brown cylindrical bottle with label at once.",
+    "Lift the bottle with ridges near base and the brown bottle simultaneously with separate arms.",
+    "Pick up the plastic bottle with blue label and the lightweight plastic brown bottle in parallel.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle, together.",
+    "Grasp the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle simultaneously.",
+    "Use one arm for the bottle with ridges near base and the other for the lightweight plastic brown bottle.",
+    "Grab the plastic bottle with blue label and the brown bottle at the same time.",
+    "Lift the plastic bottle with blue label as the other arm lifts the brown bottle.",
+    "Pick up both the plastic bottle with blue label and the brown bottle together.",
+    "Use each arm to grab one of the plastic bottle with blue label and the brown cylindrical bottle with label.",
+    "Take hold of the plastic bottle with blue label and the brown bottle at once.",
+    "Lift the bottle with ridges near base and the brown bottle simultaneously with separate arms.",
+    "Pick up the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle in parallel.",
+    "Raise both different bottles, the plastic bottle with blue label and the brown bottle, together.",
+    "Grasp the plastic bottle with blue label and the lightweight plastic brown bottle simultaneously.",
+    "Use one arm for the plastic bottle with blue label and the other for the lightweight plastic brown bottle.",
+    "Grab the bottle with ridges near base and the lightweight plastic brown bottle at the same time.",
+    "Lift the bottle with ridges near base as the other arm lifts the lightweight plastic brown bottle.",
+    "Pick up both the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle together.",
+    "Use each arm to grab one of the bottle with ridges near base and the brown bottle.",
+    "Take hold of the plastic bottle with blue label and the lightweight plastic brown bottle at once.",
+    "Lift the bottle with ridges near base and the brown cylindrical bottle with label simultaneously with separate arms.",
+    "Pick up the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle in parallel.",
+    "Raise both different bottles, the plastic bottle with blue label and the brown bottle, together.",
+    "Grasp the plastic bottle with blue label and the brown bottle simultaneously.",
+    "Use one arm for the plastic bottle with blue label and the other for the brown cylindrical bottle with label.",
+    "Grab the bottle with ridges near base and the brown bottle at the same time.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the brown cylindrical bottle with label.",
+    "Pick up both the hand-sized bottle with ridged bottom and the brown bottle together.",
+    "Use each arm to grab one of the bottle with ridges near base and the lightweight plastic brown bottle.",
+    "Take hold of the bottle with ridges near base and the lightweight plastic brown bottle at once.",
+    "Lift the plastic bottle with blue label and the lightweight plastic brown bottle simultaneously with separate arms.",
+    "Pick up the bottle with ridges near base and the brown cylindrical bottle with label in parallel.",
+    "Raise both different bottles, the plastic bottle with blue label and the brown cylindrical bottle with label, together.",
+    "Grasp the plastic bottle with blue label and the lightweight plastic brown bottle simultaneously.",
+    "Use one arm for the plastic bottle with blue label and the other for the lightweight plastic brown bottle.",
+    "Grab the bottle with ridges near base and the brown cylindrical bottle with label at the same time.",
+    "Lift the plastic bottle with blue label as the other arm lifts the lightweight plastic brown bottle.",
+    "Pick up both the bottle with ridges near base and the brown bottle together.",
+    "Use each arm to grab one of the plastic bottle with blue label and the lightweight plastic brown bottle.",
+    "Take hold of the plastic bottle with blue label and the lightweight plastic brown bottle at once.",
+    "Lift the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle simultaneously with separate arms.",
+    "Pick up the bottle with ridges near base and the lightweight plastic brown bottle in parallel.",
+    "Raise both different bottles, the bottle with ridges near base and the brown bottle, together.",
+    "Grasp the hand-sized bottle with ridged bottom and the brown cylindrical bottle with label simultaneously.",
+    "Use one arm for the bottle with ridges near base and the other for the lightweight plastic brown bottle.",
+    "Grab the bottle with ridges near base and the brown bottle at the same time.",
+    "Lift the bottle with ridges near base as the other arm lifts the brown cylindrical bottle with label.",
+    "Pick up both the hand-sized bottle with ridged bottom and the brown bottle together.",
+    "Use each arm to grab one of the bottle with ridges near base and the brown cylindrical bottle with label.",
+    "Take hold of the plastic bottle with blue label and the brown bottle at once.",
+    "Lift the hand-sized bottle with ridged bottom and the brown bottle simultaneously with separate arms.",
+    "Pick up the plastic bottle with blue label and the brown cylindrical bottle with label in parallel.",
+    "Raise both different bottles, the bottle with ridges near base and the lightweight plastic brown bottle, together.",
+    "Grasp the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle simultaneously.",
+    "Use one arm for the bottle with ridges near base and the other for the brown cylindrical bottle with label.",
+    "Grab the hand-sized bottle with ridged bottom and the brown cylindrical bottle with label at the same time.",
+    "Lift the plastic bottle with blue label as the other arm lifts the brown cylindrical bottle with label.",
+    "Pick up both the bottle with ridges near base and the brown bottle together.",
+    "Use each arm to grab one of the bottle with ridges near base and the brown cylindrical bottle with label.",
+    "Take hold of the plastic bottle with blue label and the brown cylindrical bottle with label at once.",
+    "Lift the plastic bottle with blue label and the lightweight plastic brown bottle simultaneously with separate arms.",
+    "Pick up the plastic bottle with blue label and the lightweight plastic brown bottle in parallel.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the brown cylindrical bottle with label, together.",
+    "Grasp the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle simultaneously.",
+    "Use one arm for the plastic bottle with blue label and the other for the lightweight plastic brown bottle.",
+    "Grab the hand-sized bottle with ridged bottom and the brown cylindrical bottle with label at the same time.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the brown cylindrical bottle with label.",
+    "Pick up both the hand-sized bottle with ridged bottom and the brown bottle together.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle.",
+    "Take hold of the bottle with ridges near base and the brown cylindrical bottle with label at once.",
+    "Lift the bottle with ridges near base and the brown cylindrical bottle with label simultaneously with separate arms.",
+    "Pick up the hand-sized bottle with ridged bottom and the brown cylindrical bottle with label in parallel.",
+    "Raise both different bottles, the bottle with ridges near base and the brown bottle, together.",
+    "Grasp the plastic bottle with blue label and the brown cylindrical bottle with label simultaneously.",
+    "Use one arm for the bottle with ridges near base and the other for the lightweight plastic brown bottle.",
+    "Grab the plastic bottle with blue label and the lightweight plastic brown bottle at the same time.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the lightweight plastic brown bottle.",
+    "Pick up both the hand-sized bottle with ridged bottom and the brown cylindrical bottle with label together.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle.",
+    "Take hold of the bottle with ridges near base and the brown bottle at once.",
+    "Lift the bottle with ridges near base and the lightweight plastic brown bottle simultaneously with separate arms.",
+    "Pick up the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle in parallel.",
+    "Raise both different bottles, the plastic bottle with blue label and the lightweight plastic brown bottle, together.",
+    "Grasp the hand-sized bottle with ridged bottom and the lightweight plastic brown bottle simultaneously.",
+    "Use one arm for the bottle with ridges near base and the other for the brown bottle.",
+    "Grab the bottle with ridges near base and the lightweight plastic brown bottle at the same time.",
+    "Lift the bottle with ridges near base as the other arm lifts the brown bottle.",
+    "Pick up both the plastic bottle with blue label and the brown bottle together.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the brown cylindrical bottle with label.",
+    "Take hold of the bottle with ridges near base and the brown cylindrical bottle with label at once.",
+    "Lift the plastic bottle with blue label and the brown cylindrical bottle with label simultaneously with separate arms.",
+    "Pick up the hand-sized bottle with ridged bottom and the brown cylindrical bottle with label in parallel.",
+    "Raise both different bottles, the plastic bottle with blue label and the brown cylindrical bottle with label, together.",
+    "Grasp the plastic bottle with blue label and the brown bottle simultaneously."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000022.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..b67bd7cbbee4f770cb08bec0347246be6b33a087
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000022.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the medium green bottle and the bottle with yellow cap together.",
+    "Grab both bottles in parallel, the bottle with ridges near base and the yellow-capped orange plastic bottle.",
+    "Hold the handheld green bottle in one arm and the orange bottle in the other.",
+    "Use both arms simultaneously for the medium-sized green bottle and the orange bottle.",
+    "Pick up the handheld green bottle and the orange bottle with bold labeling simultaneously.",
+    "Lift the smooth green plastic bottle and the yellow-capped orange plastic bottle in one synchronized motion.",
+    "Grasp the different bottles the medium green bottle and the handheld medium-sized liquid bottle simultaneously.",
+    "Use separate arms to lift the green bottle with indented base and the orange bottle.",
+    "Pick the bottle with white printed label and the rounded bottom orange plastic bottle up in parallel.",
+    "Lift both different bottles, the medium green bottle with capped neck and the orange bottle with bold labeling, together.",
+    "Grab the plastic bottle and the yellow-capped orange plastic bottle at the same time.",
+    "Simultaneously grasp and lift the handheld green bottle and the liquid container with orange body.",
+    "Secure both the bottle with ridges near base and the rounded bottom orange plastic bottle simultaneously.",
+    "Raise the smooth green bottle with one arm and the bottle with yellow cap with the other.",
+    "Pick up both the medium green bottle and the cylindrical orange bottle with smooth surface using separate arms.",
+    "Raise both bottles at once: the smooth green bottle and the small bottle with bright yellow lid.",
+    "Assign one arm to the bottle with ridges near base and one to the rounded orange bottle with yellow top.",
+    "Raise the medium-sized green bottle and the liquid container with orange body at the same time.",
+    "Take hold of the bottle with rounded neck and the small bottle with bright yellow lid at once.",
+    "Pick up the pair the medium-sized green bottle and the cylindrical orange bottle with smooth surface together.",
+    "Lift the smooth green plastic bottle and the rounded bottom orange plastic bottle together with both arms.",
+    "Use each arm to secure one of the plastic bottle and the yellow-capped bottle for beverages.",
+    "Take the green bottle with indented base and the orange bottle with bold labeling together, one per arm.",
+    "Hold both the medium-sized green bottle and the bottle with yellow cap, one in each arm.",
+    "Reach for the medium green bottle and the rounded bottom orange plastic bottle with both arms at once.",
+    "Use both arms to grasp the bottle with ridges near base and the cylindrical orange bottle with smooth surface together.",
+    "Each arm should grab one bottle: the medium green bottle and the smooth orange cylindrical bottle.",
+    "Use one arm for the bottle with rounded neck and the other for the smooth orange cylindrical bottle.",
+    "Grasp the handheld green bottle as the other arm grasps the small bottle with bright yellow lid.",
+    "Pick the medium-sized green bottle while the other arm picks the bottle with yellow cap.",
+    "Catch the bottle with white printed label and the yellow-capped orange plastic bottle together.",
+    "Grab both bottles in parallel, the handheld green bottle and the handheld medium-sized liquid bottle.",
+    "Hold the bottle with ridges near base in one arm and the liquid container with orange body in the other.",
+    "Use both arms simultaneously for the green bottle with indented base and the cylindrical orange bottle with smooth surface.",
+    "Pick up the medium green bottle with capped neck and the cylindrical orange bottle with smooth surface simultaneously.",
+    "Lift the bottle with white printed label and the handheld medium-sized liquid bottle in one synchronized motion.",
+    "Grasp the different bottles the bottle with ridges near base and the handheld medium-sized liquid bottle simultaneously.",
+    "Use separate arms to lift the medium green bottle with capped neck and the cylindrical orange bottle with smooth surface.",
+    "Pick the handheld green bottle and the small bottle with bright yellow lid up in parallel.",
+    "Lift both different bottles, the bottle with ridges near base and the small bottle with bright yellow lid, together.",
+    "Grab the smooth green plastic bottle and the rounded bottom orange plastic bottle at the same time.",
+    "Simultaneously grasp and lift the medium-sized green bottle and the yellow-capped orange plastic bottle.",
+    "Secure both the bottle with narrow top and the handheld medium-sized liquid bottle simultaneously.",
+    "Raise the bottle with ridges near base with one arm and the bottle with yellow cap with the other.",
+    "Pick up both the medium-sized green bottle and the small bottle with bright yellow lid using separate arms.",
+    "Raise both bottles at once: the bottle with white printed label and the small bottle with bright yellow lid.",
+    "Assign one arm to the smooth green plastic bottle and one to the orange bottle.",
+    "Raise the medium-sized green bottle and the yellow-capped bottle for beverages at the same time.",
+    "Take hold of the bottle with narrow top and the orange bottle at once.",
+    "Pick up the pair the green bottle with indented base and the rounded orange bottle with yellow top together.",
+    "Lift the medium green bottle and the small bottle with bright yellow lid together with both arms.",
+    "Use each arm to secure one of the green bottle with indented base and the orange bottle.",
+    "Take the bottle with white printed label and the orange bottle with bold labeling together, one per arm.",
+    "Hold both the bottle with ridges near base and the rounded bottom orange plastic bottle, one in each arm.",
+    "Reach for the handheld green bottle and the rounded bottom orange plastic bottle with both arms at once.",
+    "Use both arms to grasp the bottle with white printed label and the bottle with yellow cap together.",
+    "Each arm should grab one bottle: the medium green bottle and the smooth orange cylindrical bottle.",
+    "Use one arm for the bottle with rounded neck and the other for the small bottle with bright yellow lid.",
+    "Grasp the medium-sized green bottle as the other arm grasps the liquid container with orange body.",
+    "Pick the medium green bottle with capped neck while the other arm picks the small bottle with bright yellow lid.",
+    "Catch the medium green bottle and the handheld medium-sized liquid bottle together.",
+    "Grab both bottles in parallel, the smooth green bottle and the bottle with yellow cap.",
+    "Hold the bottle with ridges near base in one arm and the liquid container with orange body in the other.",
+    "Use both arms simultaneously for the bottle with rounded neck and the yellow-capped orange plastic bottle.",
+    "Pick up the bottle with ridges near base and the handheld medium-sized liquid bottle simultaneously.",
+    "Lift the bottle with rounded neck and the rounded bottom orange plastic bottle in one synchronized motion.",
+    "Grasp the different bottles the smooth green plastic bottle and the orange bottle with bold labeling simultaneously.",
+    "Use separate arms to lift the bottle with white printed label and the rounded bottom orange plastic bottle.",
+    "Pick the medium green bottle and the bottle with yellow cap up in parallel.",
+    "Lift both different bottles, the bottle with rounded neck and the handheld medium-sized liquid bottle, together.",
+    "Grab the smooth green bottle and the rounded orange bottle with yellow top at the same time.",
+    "Simultaneously grasp and lift the smooth green bottle and the liquid container with orange body.",
+    "Secure both the green bottle with indented base and the yellow-capped bottle for beverages simultaneously.",
+    "Raise the bottle with rounded neck with one arm and the rounded bottom orange plastic bottle with the other.",
+    "Pick up both the medium green bottle and the yellow-capped orange plastic bottle using separate arms.",
+    "Raise both bottles at once: the green bottle with indented base and the small bottle with bright yellow lid.",
+    "Assign one arm to the smooth green plastic bottle and one to the smooth orange cylindrical bottle.",
+    "Raise the bottle with narrow top and the rounded orange bottle with yellow top at the same time.",
+    "Take hold of the medium green bottle with capped neck and the yellow-capped orange plastic bottle at once.",
+    "Pick up the pair the green bottle with indented base and the rounded bottom orange plastic bottle together.",
+    "Lift the bottle with rounded neck and the rounded bottom orange plastic bottle together with both arms.",
+    "Use each arm to secure one of the bottle with narrow top and the orange bottle.",
+    "Take the bottle with narrow top and the yellow-capped orange plastic bottle together, one per arm.",
+    "Hold both the bottle with narrow top and the orange bottle, one in each arm.",
+    "Reach for the smooth green plastic bottle and the cylindrical orange bottle with smooth surface with both arms at once.",
+    "Use both arms to grasp the bottle with rounded neck and the rounded bottom orange plastic bottle together.",
+    "Each arm should grab one bottle: the smooth green plastic bottle and the orange bottle with bold labeling.",
+    "Use one arm for the bottle with narrow top and the other for the small bottle with bright yellow lid.",
+    "Grasp the bottle with rounded neck as the other arm grasps the smooth orange cylindrical bottle.",
+    "Pick the handheld green bottle while the other arm picks the bottle with yellow cap.",
+    "Catch the smooth green plastic bottle and the handheld medium-sized liquid bottle together.",
+    "Grab both bottles in parallel, the bottle with white printed label and the cylindrical orange bottle with smooth surface.",
+    "Hold the bottle with rounded neck in one arm and the yellow-capped bottle for beverages in the other.",
+    "Use both arms simultaneously for the bottle with rounded neck and the orange bottle.",
+    "Pick up the bottle with narrow top and the yellow-capped bottle for beverages simultaneously.",
+    "Lift the medium-sized green bottle and the orange bottle with bold labeling in one synchronized motion.",
+    "Grasp the different bottles the smooth green plastic bottle and the liquid container with orange body simultaneously.",
+    "Use separate arms to lift the medium-sized green bottle and the small bottle with bright yellow lid.",
+    "Pick the bottle with narrow top and the bottle with yellow cap up in parallel.",
+    "Lift both different bottles, the bottle with ridges near base and the yellow-capped bottle for beverages, together."
+  ],
+  "unseen": [
+    "Use one arm for the green plastic bottle with ridged bottom and the other for the plastic orange bottle with rounded base.",
+    "Lift the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Grab the green bottle with white label and the plastic orange bottle with rounded base at the same time.",
+    "Raise both different bottles, the green bottle and the plastic orange bottle with rounded base, together.",
+    "Lift the green bottle as the other arm lifts the medium plastic bottle.",
+    "Pick up both the green bottle and the medium bottle for liquids together.",
+    "Use each arm to grab one of the green bottle with white label and the medium plastic bottle.",
+    "Pick up the green bottle and the plastic orange bottle with rounded base in parallel.",
+    "Take hold of the green plastic bottle with ridged bottom and the medium bottle for liquids at once.",
+    "Grasp the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the green bottle with white label and the other for the plastic orange bottle with rounded base.",
+    "Lift the green plastic bottle with ridged bottom and the medium plastic bottle simultaneously with separate arms.",
+    "Grab the green plastic bottle with ridged bottom and the medium plastic bottle at the same time.",
+    "Raise both different bottles, the green bottle and the plastic orange bottle with rounded base, together.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the plastic orange bottle with rounded base.",
+    "Pick up both the green bottle with white label and the medium bottle for liquids together.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the medium plastic bottle.",
+    "Pick up the green bottle with white label and the medium bottle for liquids in parallel.",
+    "Take hold of the green bottle and the medium bottle for liquids at once.",
+    "Grasp the green bottle and the medium bottle for liquids simultaneously.",
+    "Use one arm for the green plastic bottle with ridged bottom and the other for the medium bottle for liquids.",
+    "Lift the green bottle and the medium plastic bottle simultaneously with separate arms.",
+    "Grab the green bottle and the plastic orange bottle with rounded base at the same time.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the medium plastic bottle, together.",
+    "Lift the green bottle with white label as the other arm lifts the medium bottle for liquids.",
+    "Pick up both the green bottle with white label and the medium plastic bottle together.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the medium plastic bottle.",
+    "Pick up the green plastic bottle with ridged bottom and the medium bottle for liquids in parallel.",
+    "Take hold of the green bottle with white label and the medium bottle for liquids at once.",
+    "Grasp the green plastic bottle with ridged bottom and the medium bottle for liquids simultaneously.",
+    "Use one arm for the green bottle and the other for the medium plastic bottle.",
+    "Lift the green bottle and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Grab the green bottle and the medium plastic bottle at the same time.",
+    "Raise both different bottles, the green bottle with white label and the medium plastic bottle, together.",
+    "Lift the green bottle as the other arm lifts the medium bottle for liquids.",
+    "Pick up both the green bottle and the medium plastic bottle together.",
+    "Use each arm to grab one of the green bottle with white label and the medium bottle for liquids.",
+    "Pick up the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base in parallel.",
+    "Take hold of the green plastic bottle with ridged bottom and the medium plastic bottle at once.",
+    "Grasp the green bottle and the medium plastic bottle simultaneously.",
+    "Use one arm for the green bottle with white label and the other for the medium plastic bottle.",
+    "Lift the green bottle and the medium plastic bottle simultaneously with separate arms.",
+    "Grab the green plastic bottle with ridged bottom and the medium bottle for liquids at the same time.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the medium bottle for liquids, together.",
+    "Lift the green bottle with white label as the other arm lifts the medium bottle for liquids.",
+    "Pick up both the green bottle and the medium bottle for liquids together.",
+    "Use each arm to grab one of the green bottle and the medium plastic bottle.",
+    "Pick up the green plastic bottle with ridged bottom and the medium plastic bottle in parallel.",
+    "Take hold of the green bottle with white label and the medium bottle for liquids at once.",
+    "Grasp the green plastic bottle with ridged bottom and the medium bottle for liquids simultaneously.",
+    "Use one arm for the green plastic bottle with ridged bottom and the other for the medium bottle for liquids.",
+    "Lift the green plastic bottle with ridged bottom and the medium bottle for liquids simultaneously with separate arms.",
+    "Grab the green plastic bottle with ridged bottom and the medium plastic bottle at the same time.",
+    "Raise both different bottles, the green bottle with white label and the medium plastic bottle, together.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the medium plastic bottle.",
+    "Pick up both the green bottle and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the medium bottle for liquids.",
+    "Pick up the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base in parallel.",
+    "Take hold of the green plastic bottle with ridged bottom and the medium plastic bottle at once.",
+    "Grasp the green bottle and the medium bottle for liquids simultaneously.",
+    "Use one arm for the green bottle and the other for the medium plastic bottle.",
+    "Lift the green plastic bottle with ridged bottom and the medium plastic bottle simultaneously with separate arms.",
+    "Grab the green bottle with white label and the medium bottle for liquids at the same time.",
+    "Raise both different bottles, the green bottle and the medium plastic bottle, together.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the medium bottle for liquids.",
+    "Pick up both the green bottle with white label and the medium plastic bottle together.",
+    "Use each arm to grab one of the green bottle and the medium plastic bottle.",
+    "Pick up the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base in parallel.",
+    "Take hold of the green bottle and the medium plastic bottle at once.",
+    "Grasp the green bottle with white label and the medium bottle for liquids simultaneously.",
+    "Use one arm for the green bottle and the other for the plastic orange bottle with rounded base.",
+    "Lift the green bottle with white label and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Grab the green bottle with white label and the medium plastic bottle at the same time.",
+    "Raise both different bottles, the green bottle with white label and the plastic orange bottle with rounded base, together.",
+    "Lift the green bottle with white label as the other arm lifts the medium bottle for liquids.",
+    "Pick up both the green plastic bottle with ridged bottom and the medium bottle for liquids together.",
+    "Use each arm to grab one of the green bottle and the medium plastic bottle.",
+    "Pick up the green bottle with white label and the medium plastic bottle in parallel.",
+    "Take hold of the green bottle and the medium bottle for liquids at once.",
+    "Grasp the green bottle with white label and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the green bottle and the other for the plastic orange bottle with rounded base.",
+    "Lift the green bottle and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Grab the green bottle and the medium plastic bottle at the same time.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the medium plastic bottle, together.",
+    "Lift the green bottle with white label as the other arm lifts the plastic orange bottle with rounded base.",
+    "Pick up both the green plastic bottle with ridged bottom and the medium bottle for liquids together.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base.",
+    "Pick up the green bottle and the medium bottle for liquids in parallel.",
+    "Take hold of the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base at once.",
+    "Grasp the green plastic bottle with ridged bottom and the medium bottle for liquids simultaneously.",
+    "Use one arm for the green bottle and the other for the plastic orange bottle with rounded base.",
+    "Lift the green plastic bottle with ridged bottom and the medium bottle for liquids simultaneously with separate arms.",
+    "Grab the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base at the same time.",
+    "Raise both different bottles, the green bottle with white label and the medium plastic bottle, together.",
+    "Lift the green bottle with white label as the other arm lifts the medium plastic bottle.",
+    "Pick up both the green bottle and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab one of the green bottle and the medium plastic bottle.",
+    "Pick up the green plastic bottle with ridged bottom and the medium plastic bottle in parallel.",
+    "Take hold of the green bottle and the medium bottle for liquids at once.",
+    "Grasp the green bottle and the medium plastic bottle simultaneously."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000023.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9a90852c468f5669112017a7b7ba66ad59674c8
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000023.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the ridged orange bottle with grooves and the blue bottle with label together with both arms.",
+    "Grasp the curved orange soda bottle as the other arm grasps the plastic bottle.",
+    "Grab both bottles in parallel, the orange drink bottle with label and the medium-sized bottle.",
+    "Grasp the different bottles the plastic bottle and the cylindrical bottle simultaneously.",
+    "Assign one arm to the orange bottle and one to the white and blue bottle.",
+    "Raise the light and medium-sized bottle with one arm and the medium-sized bottle with the other.",
+    "Pick up both the smooth orange bottle and the blue bottle using separate arms.",
+    "Raise the round-bottom bottle with white cap and the bottle for liquids at the same time.",
+    "Secure both the orange drink bottle with label and the bottle with blue cap simultaneously.",
+    "Reach for the plastic bottle and the blue bottle with both arms at once.",
+    "Hold both the ridged orange bottle with grooves and the handheld bottle, one in each arm.",
+    "Each arm should grab one bottle: the bottle for holding drinks and the bottle for liquids.",
+    "Catch the curved orange soda bottle and the white and blue bottle together.",
+    "Pick up the pair the grooved orange drink bottle and the cylindrical bottle together.",
+    "Use one arm for the smooth orange bottle and the other for the medium-sized bottle.",
+    "Use both arms simultaneously for the ridged orange bottle with grooves and the smooth plastic bottle.",
+    "Pick the ridged orange bottle with grooves and the white and blue bottle up in parallel.",
+    "Lift the cylindrical orange plastic bottle and the cylindrical bottle in one synchronized motion.",
+    "Use each arm to secure one of the grooved orange drink bottle and the bottle for liquids.",
+    "Simultaneously grasp and lift the round-bottom bottle with white cap and the white and blue bottle.",
+    "Hold the grooved orange drink bottle in one arm and the plastic bottle in the other.",
+    "Raise both bottles at once: the grooved orange drink bottle and the smooth plastic bottle.",
+    "Lift both different bottles, the medium bottle with colorful label and the blue bottle, together.",
+    "Use both arms to grasp the plastic bottle and the handheld bottle together.",
+    "Take the cylindrical orange plastic bottle and the white bottle with blue accents together, one per arm.",
+    "Grab the plastic bottle and the plastic bottle at the same time.",
+    "Take hold of the cylindrical orange plastic bottle and the cylindrical bottle at once.",
+    "Use separate arms to lift the bottle for holding drinks and the bottle with blue cap.",
+    "Pick up the bottle for holding drinks and the blue bottle with label simultaneously.",
+    "Pick the ridged orange bottle with grooves while the other arm picks the white and blue bottle.",
+    "Lift the plastic bottle and the bottle for liquids together with both arms.",
+    "Grasp the medium bottle with colorful label as the other arm grasps the blue bottle.",
+    "Grab both bottles in parallel, the light and medium-sized bottle and the bottle with blue cap.",
+    "Grasp the different bottles the light and medium-sized bottle and the handheld bottle simultaneously.",
+    "Assign one arm to the bottle for holding drinks and one to the medium-sized bottle.",
+    "Raise the bottle for holding drinks with one arm and the handheld bottle with the other.",
+    "Pick up both the plastic bottle and the handheld bottle using separate arms.",
+    "Raise the orange drink bottle with label and the cylindrical bottle at the same time.",
+    "Secure both the bottle for holding drinks and the blue bottle with label simultaneously.",
+    "Reach for the medium bottle with colorful label and the cylindrical bottle with both arms at once.",
+    "Hold both the bottle for holding drinks and the smooth plastic bottle, one in each arm.",
+    "Each arm should grab one bottle: the light and medium-sized bottle and the blue bottle.",
+    "Catch the orange drink bottle with label and the medium-sized bottle together.",
+    "Pick up the pair the ridged orange bottle with grooves and the blue bottle together.",
+    "Use one arm for the bottle for holding drinks and the other for the blue bottle.",
+    "Use both arms simultaneously for the ridged orange bottle with grooves and the white bottle with blue accents.",
+    "Pick the ridged orange bottle with grooves and the plastic bottle up in parallel.",
+    "Lift the ridged orange bottle with grooves and the smooth plastic bottle in one synchronized motion.",
+    "Use each arm to secure one of the light and medium-sized bottle and the bottle with blue cap.",
+    "Simultaneously grasp and lift the ridged orange bottle with grooves and the blue bottle.",
+    "Hold the orange drink bottle with label in one arm and the blue bottle in the other.",
+    "Raise both bottles at once: the smooth orange bottle and the handheld bottle.",
+    "Lift both different bottles, the bottle for holding drinks and the blue bottle with label, together.",
+    "Use both arms to grasp the orange bottle and the smooth plastic bottle together.",
+    "Take the cylindrical orange plastic bottle and the blue bottle together, one per arm.",
+    "Grab the orange bottle and the white bottle with blue accents at the same time.",
+    "Take hold of the orange bottle and the plastic bottle at once.",
+    "Use separate arms to lift the cylindrical orange plastic bottle and the blue bottle.",
+    "Pick up the bottle for holding drinks and the bottle for liquids simultaneously.",
+    "Pick the ridged orange bottle with grooves while the other arm picks the white bottle with blue accents.",
+    "Lift the curved orange soda bottle and the bottle for liquids together with both arms.",
+    "Grasp the cylindrical orange plastic bottle as the other arm grasps the white bottle with blue accents.",
+    "Grab both bottles in parallel, the ridged orange bottle with grooves and the bottle for liquids.",
+    "Grasp the different bottles the medium bottle with colorful label and the blue bottle simultaneously.",
+    "Assign one arm to the grooved orange drink bottle and one to the smooth plastic bottle.",
+    "Raise the orange drink bottle with label with one arm and the medium-sized bottle with the other.",
+    "Pick up both the orange bottle and the white and blue bottle using separate arms.",
+    "Raise the orange drink bottle with label and the medium-sized bottle at the same time.",
+    "Secure both the orange drink bottle with label and the bottle with blue cap simultaneously.",
+    "Reach for the cylindrical orange plastic bottle and the medium-sized bottle with both arms at once.",
+    "Hold both the round-bottom bottle with white cap and the cylindrical bottle, one in each arm.",
+    "Each arm should grab one bottle: the medium bottle with colorful label and the white bottle with blue accents.",
+    "Catch the smooth orange bottle and the white and blue bottle together.",
+    "Pick up the pair the smooth orange bottle and the medium bottle for beverages together.",
+    "Use one arm for the curved orange soda bottle and the other for the white and blue bottle.",
+    "Use both arms simultaneously for the medium bottle with colorful label and the bottle with blue cap.",
+    "Pick the orange drink bottle with label and the handheld bottle up in parallel.",
+    "Lift the smooth orange bottle and the white bottle with blue accents in one synchronized motion.",
+    "Use each arm to secure one of the light and medium-sized bottle and the white and blue bottle.",
+    "Simultaneously grasp and lift the ridged orange bottle with grooves and the plastic bottle.",
+    "Hold the orange drink bottle with label in one arm and the white bottle with blue accents in the other.",
+    "Raise both bottles at once: the ridged orange bottle with grooves and the handheld bottle.",
+    "Lift both different bottles, the light and medium-sized bottle and the medium bottle for beverages, together.",
+    "Use both arms to grasp the cylindrical orange plastic bottle and the medium-sized bottle together.",
+    "Take the bottle for holding drinks and the plastic bottle together, one per arm.",
+    "Grab the plastic bottle and the bottle for liquids at the same time.",
+    "Take hold of the smooth orange bottle and the white and blue bottle at once.",
+    "Use separate arms to lift the smooth orange bottle and the handheld bottle.",
+    "Pick up the grooved orange drink bottle and the smooth plastic bottle simultaneously.",
+    "Pick the curved orange soda bottle while the other arm picks the blue bottle with label.",
+    "Lift the light and medium-sized bottle and the cylindrical bottle together with both arms.",
+    "Grasp the bottle for holding drinks as the other arm grasps the bottle for liquids.",
+    "Grab both bottles in parallel, the medium bottle with colorful label and the white bottle with blue accents.",
+    "Grasp the different bottles the medium bottle with colorful label and the cylindrical bottle simultaneously.",
+    "Assign one arm to the plastic bottle and one to the plastic bottle.",
+    "Raise the bottle for holding drinks with one arm and the medium bottle for beverages with the other.",
+    "Pick up both the medium bottle with colorful label and the medium-sized bottle using separate arms.",
+    "Raise the bottle for holding drinks and the blue bottle at the same time.",
+    "Secure both the orange bottle and the white and blue bottle simultaneously.",
+    "Reach for the bottle for holding drinks and the cylindrical bottle with both arms at once."
+  ],
+  "unseen": [
+    "Raise both different bottles, the bottle with ridged orange grip and the bottle with curved neck design, together.",
+    "Lift the white capped orange plastic bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with white cap and the bottle with ridged neck.",
+    "Take hold of the bottle with ridged orange grip and the blue-capped plastic bottle at once.",
+    "Use one arm for the bottle with white cap and the other for the bottle with curved neck design.",
+    "Pick up the white capped orange plastic bottle and the bottle with ridged neck in parallel.",
+    "Grab the bottle with white cap and the bottle with ridged neck at the same time.",
+    "Pick up both the white capped orange plastic bottle and the bottle with curved neck design together.",
+    "Grasp the bottle with white cap and the bottle with ridged neck simultaneously.",
+    "Lift the bottle with ridged orange grip as the other arm lifts the bottle with curved neck design.",
+    "Raise both different bottles, the bottle with white cap and the bottle with curved neck design, together.",
+    "Lift the white capped orange plastic bottle and the bottle with ridged neck simultaneously with separate arms.",
+    "Use each arm to grab one of the white capped orange plastic bottle and the bottle with curved neck design.",
+    "Take hold of the white capped orange plastic bottle and the bottle with ridged neck at once.",
+    "Use one arm for the white capped orange plastic bottle and the other for the bottle with ridged neck.",
+    "Pick up the bottle with ridged orange grip and the blue-capped plastic bottle in parallel.",
+    "Grab the white capped orange plastic bottle and the bottle with ridged neck at the same time.",
+    "Pick up both the white capped orange plastic bottle and the blue-capped plastic bottle together.",
+    "Grasp the bottle with ridged orange grip and the bottle with ridged neck simultaneously.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with ridged neck.",
+    "Raise both different bottles, the bottle with ridged orange grip and the blue-capped plastic bottle, together.",
+    "Lift the white capped orange plastic bottle and the bottle with curved neck design simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridged orange grip and the blue-capped plastic bottle.",
+    "Take hold of the bottle with ridged orange grip and the bottle with curved neck design at once.",
+    "Use one arm for the bottle with white cap and the other for the bottle with ridged neck.",
+    "Pick up the bottle with white cap and the blue-capped plastic bottle in parallel.",
+    "Grab the bottle with white cap and the blue-capped plastic bottle at the same time.",
+    "Pick up both the white capped orange plastic bottle and the blue-capped plastic bottle together.",
+    "Grasp the bottle with ridged orange grip and the bottle with curved neck design simultaneously.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the blue-capped plastic bottle.",
+    "Raise both different bottles, the bottle with white cap and the blue-capped plastic bottle, together.",
+    "Lift the white capped orange plastic bottle and the bottle with ridged neck simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with white cap and the bottle with curved neck design.",
+    "Take hold of the white capped orange plastic bottle and the bottle with curved neck design at once.",
+    "Use one arm for the white capped orange plastic bottle and the other for the bottle with ridged neck.",
+    "Pick up the white capped orange plastic bottle and the bottle with curved neck design in parallel.",
+    "Grab the white capped orange plastic bottle and the blue-capped plastic bottle at the same time.",
+    "Pick up both the bottle with ridged orange grip and the blue-capped plastic bottle together.",
+    "Grasp the white capped orange plastic bottle and the bottle with ridged neck simultaneously.",
+    "Lift the bottle with ridged orange grip as the other arm lifts the bottle with curved neck design.",
+    "Raise both different bottles, the bottle with white cap and the bottle with ridged neck, together.",
+    "Lift the white capped orange plastic bottle and the bottle with curved neck design simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridged orange grip and the bottle with ridged neck.",
+    "Take hold of the bottle with white cap and the blue-capped plastic bottle at once.",
+    "Use one arm for the bottle with ridged orange grip and the other for the bottle with curved neck design.",
+    "Pick up the white capped orange plastic bottle and the blue-capped plastic bottle in parallel.",
+    "Grab the white capped orange plastic bottle and the bottle with curved neck design at the same time.",
+    "Pick up both the white capped orange plastic bottle and the bottle with ridged neck together.",
+    "Grasp the bottle with white cap and the bottle with curved neck design simultaneously.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with ridged neck.",
+    "Raise both different bottles, the bottle with white cap and the bottle with ridged neck, together.",
+    "Lift the bottle with ridged orange grip and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridged orange grip and the blue-capped plastic bottle.",
+    "Take hold of the bottle with ridged orange grip and the blue-capped plastic bottle at once.",
+    "Use one arm for the bottle with ridged orange grip and the other for the bottle with ridged neck.",
+    "Pick up the white capped orange plastic bottle and the bottle with ridged neck in parallel.",
+    "Grab the bottle with ridged orange grip and the bottle with curved neck design at the same time.",
+    "Pick up both the bottle with ridged orange grip and the blue-capped plastic bottle together.",
+    "Grasp the bottle with white cap and the bottle with ridged neck simultaneously.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with ridged neck.",
+    "Raise both different bottles, the bottle with ridged orange grip and the blue-capped plastic bottle, together.",
+    "Lift the bottle with ridged orange grip and the bottle with ridged neck simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with white cap and the bottle with curved neck design.",
+    "Take hold of the bottle with white cap and the bottle with ridged neck at once.",
+    "Use one arm for the bottle with white cap and the other for the bottle with curved neck design.",
+    "Pick up the bottle with white cap and the blue-capped plastic bottle in parallel.",
+    "Grab the white capped orange plastic bottle and the bottle with ridged neck at the same time.",
+    "Pick up both the white capped orange plastic bottle and the bottle with ridged neck together.",
+    "Grasp the white capped orange plastic bottle and the blue-capped plastic bottle simultaneously.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with curved neck design.",
+    "Raise both different bottles, the white capped orange plastic bottle and the blue-capped plastic bottle, together.",
+    "Lift the bottle with ridged orange grip and the bottle with ridged neck simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with white cap and the blue-capped plastic bottle.",
+    "Take hold of the bottle with ridged orange grip and the bottle with curved neck design at once.",
+    "Use one arm for the bottle with ridged orange grip and the other for the bottle with ridged neck.",
+    "Pick up the bottle with white cap and the blue-capped plastic bottle in parallel.",
+    "Grab the bottle with white cap and the blue-capped plastic bottle at the same time.",
+    "Pick up both the bottle with ridged orange grip and the bottle with ridged neck together.",
+    "Grasp the bottle with white cap and the blue-capped plastic bottle simultaneously.",
+    "Lift the bottle with white cap as the other arm lifts the blue-capped plastic bottle.",
+    "Raise both different bottles, the white capped orange plastic bottle and the bottle with curved neck design, together.",
+    "Lift the bottle with white cap and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with white cap and the bottle with ridged neck.",
+    "Take hold of the bottle with ridged orange grip and the bottle with curved neck design at once.",
+    "Use one arm for the bottle with ridged orange grip and the other for the bottle with ridged neck.",
+    "Pick up the bottle with white cap and the bottle with ridged neck in parallel.",
+    "Grab the bottle with white cap and the bottle with ridged neck at the same time.",
+    "Pick up both the bottle with white cap and the bottle with ridged neck together.",
+    "Grasp the bottle with ridged orange grip and the blue-capped plastic bottle simultaneously.",
+    "Lift the bottle with white cap as the other arm lifts the bottle with curved neck design.",
+    "Raise both different bottles, the bottle with ridged orange grip and the bottle with ridged neck, together.",
+    "Lift the bottle with ridged orange grip and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with white cap and the bottle with curved neck design.",
+    "Take hold of the bottle with white cap and the bottle with ridged neck at once.",
+    "Use one arm for the bottle with ridged orange grip and the other for the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged orange grip and the blue-capped plastic bottle in parallel.",
+    "Grab the white capped orange plastic bottle and the bottle with ridged neck at the same time.",
+    "Pick up both the bottle with ridged orange grip and the bottle with ridged neck together.",
+    "Grasp the bottle with ridged orange grip and the bottle with curved neck design simultaneously.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with curved neck design."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000024.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..a321ae477925ccc4318d075f89b605b612067ae6
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000024.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Each arm should grab one bottle: the cylindrical orange plastic bottle and the bottle with green and white label.",
+    "Grab the bottle for holding drinks and the yellow bottle at the same time.",
+    "Pick the orange bottle and the bottle with green and white label up in parallel.",
+    "Pick up the pair the round-bottom bottle with white cap and the yellow bottle with flower design together.",
+    "Lift the round-bottom bottle with white cap and the smooth yellow plastic bottle together with both arms.",
+    "Use one arm for the grooved orange drink bottle and the other for the yellow bottle with green label.",
+    "Hold the orange bottle in one arm and the yellow bottle with flower design in the other.",
+    "Use both arms to grasp the cylindrical orange plastic bottle and the yellow bottle with green label together.",
+    "Pick the cylindrical orange plastic bottle while the other arm picks the yellow bottle.",
+    "Raise both bottles at once: the medium bottle with colorful label and the yellow bottle with flower design.",
+    "Lift both different bottles, the ridged orange bottle with grooves and the handheld bottle, together.",
+    "Grasp the different bottles the light and medium-sized bottle and the handheld bottle simultaneously.",
+    "Raise the bottle for holding drinks with one arm and the yellow bottle with green label with the other.",
+    "Use both arms simultaneously for the orange bottle and the bottle for liquids.",
+    "Secure both the bottle for holding drinks and the bottle with white cap simultaneously.",
+    "Catch the plastic bottle and the bottle with white cap together.",
+    "Grasp the light and medium-sized bottle as the other arm grasps the yellow bottle.",
+    "Raise the orange bottle and the bottle with green and white label at the same time.",
+    "Grab both bottles in parallel, the orange bottle and the bottle for liquids.",
+    "Lift the orange bottle and the rectangular bottle in one synchronized motion.",
+    "Hold both the orange drink bottle with label and the bottle with white cap, one in each arm.",
+    "Pick up both the medium bottle with colorful label and the smooth yellow plastic bottle using separate arms.",
+    "Assign one arm to the orange bottle and one to the plastic bottle.",
+    "Pick up the plastic bottle and the bottle with green and white label simultaneously.",
+    "Use separate arms to lift the orange bottle and the yellow bottle with green label.",
+    "Take hold of the light and medium-sized bottle and the yellow bottle with cylindrical cap at once.",
+    "Use each arm to secure one of the orange drink bottle with label and the yellow bottle with cylindrical cap.",
+    "Take the grooved orange drink bottle and the bottle for liquids together, one per arm.",
+    "Simultaneously grasp and lift the plastic bottle and the yellow bottle with green label.",
+    "Reach for the orange bottle and the bottle for liquids with both arms at once.",
+    "Each arm should grab one bottle: the cylindrical orange plastic bottle and the bottle with green and white label.",
+    "Grab the curved orange soda bottle and the yellow bottle with flower design at the same time.",
+    "Pick the light and medium-sized bottle and the yellow bottle with flower design up in parallel.",
+    "Pick up the pair the grooved orange drink bottle and the smooth yellow plastic bottle together.",
+    "Lift the plastic bottle and the handheld bottle together with both arms.",
+    "Use one arm for the grooved orange drink bottle and the other for the bottle with green and white label.",
+    "Hold the light and medium-sized bottle in one arm and the plastic bottle in the other.",
+    "Use both arms to grasp the plastic bottle and the bottle for liquids together.",
+    "Pick the plastic bottle while the other arm picks the smooth yellow plastic bottle.",
+    "Raise both bottles at once: the bottle for holding drinks and the yellow body bottle.",
+    "Lift both different bottles, the curved orange soda bottle and the yellow bottle with cylindrical cap, together.",
+    "Grasp the different bottles the medium bottle with colorful label and the yellow bottle with cylindrical cap simultaneously.",
+    "Raise the orange bottle with one arm and the handheld bottle with the other.",
+    "Use both arms simultaneously for the curved orange soda bottle and the yellow bottle with cylindrical cap.",
+    "Secure both the orange bottle and the smooth yellow plastic bottle simultaneously.",
+    "Catch the cylindrical orange plastic bottle and the plastic bottle together.",
+    "Grasp the round-bottom bottle with white cap as the other arm grasps the bottle with green and white label.",
+    "Raise the round-bottom bottle with white cap and the bottle for liquids at the same time.",
+    "Grab both bottles in parallel, the cylindrical orange plastic bottle and the yellow body bottle.",
+    "Lift the orange bottle and the bottle with green and white label in one synchronized motion.",
+    "Hold both the round-bottom bottle with white cap and the yellow bottle with green label, one in each arm.",
+    "Pick up both the smooth orange bottle and the smooth yellow plastic bottle using separate arms.",
+    "Assign one arm to the orange drink bottle with label and one to the plastic bottle.",
+    "Pick up the orange drink bottle with label and the handheld bottle simultaneously.",
+    "Use separate arms to lift the light and medium-sized bottle and the yellow body bottle.",
+    "Take hold of the grooved orange drink bottle and the handheld bottle at once.",
+    "Use each arm to secure one of the ridged orange bottle with grooves and the rectangular bottle.",
+    "Take the ridged orange bottle with grooves and the plastic bottle together, one per arm.",
+    "Simultaneously grasp and lift the orange bottle and the plastic bottle.",
+    "Reach for the orange bottle and the bottle for liquids with both arms at once.",
+    "Each arm should grab one bottle: the cylindrical orange plastic bottle and the bottle for liquids.",
+    "Grab the round-bottom bottle with white cap and the yellow bottle with flower design at the same time.",
+    "Pick the bottle for holding drinks and the yellow bottle with green label up in parallel.",
+    "Pick up the pair the orange bottle and the smooth yellow plastic bottle together.",
+    "Lift the curved orange soda bottle and the rectangular bottle together with both arms.",
+    "Use one arm for the ridged orange bottle with grooves and the other for the plastic bottle.",
+    "Hold the cylindrical orange plastic bottle in one arm and the yellow bottle in the other.",
+    "Use both arms to grasp the smooth orange bottle and the yellow bottle together.",
+    "Pick the round-bottom bottle with white cap while the other arm picks the bottle for liquids.",
+    "Raise both bottles at once: the orange bottle and the bottle for liquids.",
+    "Lift both different bottles, the orange bottle and the plastic bottle, together.",
+    "Grasp the different bottles the round-bottom bottle with white cap and the handheld bottle simultaneously.",
+    "Raise the plastic bottle with one arm and the plastic bottle with the other.",
+    "Use both arms simultaneously for the orange drink bottle with label and the yellow bottle with cylindrical cap.",
+    "Secure both the curved orange soda bottle and the smooth yellow plastic bottle simultaneously.",
+    "Catch the round-bottom bottle with white cap and the yellow bottle with cylindrical cap together.",
+    "Grasp the curved orange soda bottle as the other arm grasps the bottle for liquids.",
+    "Raise the medium bottle with colorful label and the rectangular bottle at the same time.",
+    "Grab both bottles in parallel, the curved orange soda bottle and the yellow bottle with green label.",
+    "Lift the light and medium-sized bottle and the rectangular bottle in one synchronized motion.",
+    "Hold both the bottle for holding drinks and the yellow body bottle, one in each arm.",
+    "Pick up both the orange drink bottle with label and the yellow body bottle using separate arms.",
+    "Assign one arm to the round-bottom bottle with white cap and one to the plastic bottle.",
+    "Pick up the round-bottom bottle with white cap and the yellow bottle simultaneously.",
+    "Use separate arms to lift the bottle for holding drinks and the handheld bottle.",
+    "Take hold of the cylindrical orange plastic bottle and the smooth yellow plastic bottle at once.",
+    "Use each arm to secure one of the medium bottle with colorful label and the smooth yellow plastic bottle.",
+    "Take the grooved orange drink bottle and the yellow bottle with green label together, one per arm.",
+    "Simultaneously grasp and lift the curved orange soda bottle and the rectangular bottle.",
+    "Reach for the grooved orange drink bottle and the bottle for liquids with both arms at once.",
+    "Each arm should grab one bottle: the curved orange soda bottle and the bottle with green and white label.",
+    "Grab the cylindrical orange plastic bottle and the bottle with white cap at the same time.",
+    "Pick the orange drink bottle with label and the yellow bottle with green label up in parallel.",
+    "Pick up the pair the curved orange soda bottle and the rectangular bottle together.",
+    "Lift the curved orange soda bottle and the bottle with green and white label together with both arms.",
+    "Use one arm for the light and medium-sized bottle and the other for the handheld bottle.",
+    "Hold the round-bottom bottle with white cap in one arm and the bottle with green and white label in the other.",
+    "Use both arms to grasp the light and medium-sized bottle and the yellow bottle with green label together.",
+    "Pick the smooth orange bottle while the other arm picks the bottle for liquids.",
+    "Raise both bottles at once: the plastic bottle and the yellow bottle with cylindrical cap."
+  ],
+  "unseen": [
+    "Lift the bottle with ridged orange grip as the other arm lifts the bottle with printed label.",
+    "Lift the bottle with white cap and the bottle with rounded edges simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with ridged orange grip and the medium bottle, together.",
+    "Grab the bottle with ridged orange grip and the medium bottle at the same time.",
+    "Use one arm for the white capped orange plastic bottle and the other for the medium bottle.",
+    "Pick up the bottle with white cap and the medium bottle in parallel.",
+    "Take hold of the bottle with ridged orange grip and the bottle with rounded edges at once.",
+    "Pick up both the bottle with white cap and the bottle with rounded edges together.",
+    "Use each arm to grab one of the bottle with ridged orange grip and the bottle with rounded edges.",
+    "Grasp the bottle with ridged orange grip and the bottle with printed label simultaneously.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with rounded edges.",
+    "Lift the bottle with ridged orange grip and the medium bottle simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with white cap and the bottle with rounded edges, together.",
+    "Grab the bottle with ridged orange grip and the medium bottle at the same time.",
+    "Use one arm for the white capped orange plastic bottle and the other for the medium bottle.",
+    "Pick up the white capped orange plastic bottle and the bottle with printed label in parallel.",
+    "Take hold of the bottle with white cap and the bottle with rounded edges at once.",
+    "Pick up both the white capped orange plastic bottle and the bottle with printed label together.",
+    "Use each arm to grab one of the bottle with white cap and the medium bottle.",
+    "Grasp the bottle with white cap and the medium bottle simultaneously.",
+    "Lift the bottle with ridged orange grip as the other arm lifts the medium bottle.",
+    "Lift the white capped orange plastic bottle and the medium bottle simultaneously with separate arms.",
+    "Raise both different bottles, the white capped orange plastic bottle and the medium bottle, together.",
+    "Grab the bottle with ridged orange grip and the medium bottle at the same time.",
+    "Use one arm for the white capped orange plastic bottle and the other for the bottle with printed label.",
+    "Pick up the white capped orange plastic bottle and the bottle with printed label in parallel.",
+    "Take hold of the bottle with white cap and the bottle with rounded edges at once.",
+    "Pick up both the white capped orange plastic bottle and the medium bottle together.",
+    "Use each arm to grab one of the bottle with ridged orange grip and the bottle with printed label.",
+    "Grasp the bottle with ridged orange grip and the bottle with printed label simultaneously.",
+    "Lift the bottle with white cap as the other arm lifts the bottle with printed label.",
+    "Lift the bottle with white cap and the medium bottle simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with ridged orange grip and the bottle with rounded edges, together.",
+    "Grab the bottle with ridged orange grip and the medium bottle at the same time.",
+    "Use one arm for the bottle with ridged orange grip and the other for the bottle with printed label.",
+    "Pick up the bottle with white cap and the bottle with rounded edges in parallel.",
+    "Take hold of the bottle with white cap and the bottle with printed label at once.",
+    "Pick up both the bottle with white cap and the bottle with printed label together.",
+    "Use each arm to grab one of the bottle with ridged orange grip and the bottle with printed label.",
+    "Grasp the bottle with ridged orange grip and the bottle with printed label simultaneously.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the medium bottle.",
+    "Lift the white capped orange plastic bottle and the bottle with rounded edges simultaneously with separate arms.",
+    "Raise both different bottles, the white capped orange plastic bottle and the bottle with printed label, together.",
+    "Grab the white capped orange plastic bottle and the bottle with printed label at the same time.",
+    "Use one arm for the white capped orange plastic bottle and the other for the bottle with printed label.",
+    "Pick up the bottle with white cap and the medium bottle in parallel.",
+    "Take hold of the bottle with ridged orange grip and the bottle with rounded edges at once.",
+    "Pick up both the white capped orange plastic bottle and the bottle with rounded edges together.",
+    "Use each arm to grab one of the bottle with white cap and the bottle with printed label.",
+    "Grasp the bottle with white cap and the bottle with printed label simultaneously.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the medium bottle.",
+    "Lift the bottle with ridged orange grip and the bottle with printed label simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with white cap and the bottle with rounded edges, together.",
+    "Grab the bottle with ridged orange grip and the bottle with rounded edges at the same time.",
+    "Use one arm for the white capped orange plastic bottle and the other for the bottle with rounded edges.",
+    "Pick up the white capped orange plastic bottle and the bottle with printed label in parallel.",
+    "Take hold of the bottle with white cap and the medium bottle at once.",
+    "Pick up both the bottle with ridged orange grip and the bottle with printed label together.",
+    "Use each arm to grab one of the white capped orange plastic bottle and the bottle with printed label.",
+    "Grasp the bottle with white cap and the bottle with rounded edges simultaneously.",
+    "Lift the bottle with ridged orange grip as the other arm lifts the bottle with printed label.",
+    "Lift the bottle with ridged orange grip and the bottle with rounded edges simultaneously with separate arms.",
+    "Raise both different bottles, the white capped orange plastic bottle and the bottle with rounded edges, together.",
+    "Grab the bottle with white cap and the medium bottle at the same time.",
+    "Use one arm for the bottle with ridged orange grip and the other for the medium bottle.",
+    "Pick up the bottle with ridged orange grip and the medium bottle in parallel.",
+    "Take hold of the bottle with ridged orange grip and the medium bottle at once.",
+    "Pick up both the white capped orange plastic bottle and the medium bottle together.",
+    "Use each arm to grab one of the white capped orange plastic bottle and the medium bottle.",
+    "Grasp the bottle with white cap and the bottle with printed label simultaneously.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with printed label.",
+    "Lift the bottle with ridged orange grip and the medium bottle simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with white cap and the bottle with printed label, together.",
+    "Grab the white capped orange plastic bottle and the medium bottle at the same time.",
+    "Use one arm for the white capped orange plastic bottle and the other for the bottle with rounded edges.",
+    "Pick up the white capped orange plastic bottle and the bottle with rounded edges in parallel.",
+    "Take hold of the white capped orange plastic bottle and the bottle with rounded edges at once.",
+    "Pick up both the white capped orange plastic bottle and the medium bottle together.",
+    "Use each arm to grab one of the white capped orange plastic bottle and the bottle with printed label.",
+    "Grasp the white capped orange plastic bottle and the medium bottle simultaneously.",
+    "Lift the bottle with ridged orange grip as the other arm lifts the medium bottle.",
+    "Lift the bottle with ridged orange grip and the medium bottle simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with ridged orange grip and the medium bottle, together.",
+    "Grab the bottle with ridged orange grip and the bottle with rounded edges at the same time.",
+    "Use one arm for the white capped orange plastic bottle and the other for the medium bottle.",
+    "Pick up the bottle with ridged orange grip and the bottle with printed label in parallel.",
+    "Take hold of the bottle with ridged orange grip and the medium bottle at once.",
+    "Pick up both the bottle with ridged orange grip and the bottle with rounded edges together.",
+    "Use each arm to grab one of the bottle with white cap and the bottle with printed label.",
+    "Grasp the bottle with white cap and the bottle with printed label simultaneously.",
+    "Lift the bottle with ridged orange grip as the other arm lifts the bottle with printed label.",
+    "Lift the bottle with white cap and the bottle with printed label simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with white cap and the bottle with rounded edges, together.",
+    "Grab the bottle with ridged orange grip and the bottle with rounded edges at the same time.",
+    "Use one arm for the bottle with white cap and the other for the medium bottle.",
+    "Pick up the bottle with ridged orange grip and the bottle with printed label in parallel.",
+    "Take hold of the bottle with ridged orange grip and the medium bottle at once.",
+    "Pick up both the bottle with ridged orange grip and the bottle with printed label together.",
+    "Use each arm to grab one of the white capped orange plastic bottle and the bottle with rounded edges.",
+    "Grasp the white capped orange plastic bottle and the medium bottle simultaneously."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000025.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca92a9085d27de98f7b46c67c7790aafd598fefb
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000025.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the pair the yellow plastic bottle with white top and the medium green bottle together.",
+    "Use separate arms to lift the medium rectangular yellow bottle and the smooth green plastic bottle.",
+    "Use each arm to secure one of the plastic bottle and the smooth green bottle.",
+    "Lift the bottle with green label and the green bottle with indented base in one synchronized motion.",
+    "Take the bottle with green and white labels and the bottle with narrow top together, one per arm.",
+    "Pick the yellow container with rounded edges while the other arm picks the smooth green bottle.",
+    "Take hold of the bottle with white cap and the bottle with rounded neck at once.",
+    "Each arm should grab one bottle: the plastic bottle and the medium-sized green bottle.",
+    "Grab both bottles in parallel, the yellow bottle and the smooth green plastic bottle.",
+    "Raise the medium rectangular yellow bottle with one arm and the medium green bottle with capped neck with the other.",
+    "Reach for the bottle with a smooth plastic body and the bottle with white printed label with both arms at once.",
+    "Pick up both the smooth bottle with rounded edges and the bottle with ridges near base using separate arms.",
+    "Simultaneously grasp and lift the rectangular bottle with cylindrical neck and the handheld green bottle.",
+    "Assign one arm to the bottle with a smooth plastic body and one to the medium green bottle.",
+    "Grasp the different bottles the medium rectangular yellow bottle and the bottle with rounded neck simultaneously.",
+    "Pick up the yellow bottle with a green design and the medium green bottle simultaneously.",
+    "Raise both bottles at once: the bottle with green and white labels and the smooth green bottle.",
+    "Hold both the yellow bottle and the medium-sized green bottle, one in each arm.",
+    "Grab the bottle with green label and the bottle with narrow top at the same time.",
+    "Raise the yellow bottle with a green design and the medium-sized green bottle at the same time.",
+    "Secure both the bottle with white cap and the bottle with rounded neck simultaneously.",
+    "Catch the yellow bottle with a green design and the medium green bottle together.",
+    "Lift both different bottles, the medium rectangular yellow bottle and the medium green bottle, together.",
+    "Use both arms to grasp the smooth bottle with rounded edges and the bottle with ridges near base together.",
+    "Grasp the plastic bottle as the other arm grasps the bottle with ridges near base.",
+    "Pick the yellow plastic bottle with white top and the medium green bottle with capped neck up in parallel.",
+    "Use both arms simultaneously for the yellow bottle and the handheld green bottle.",
+    "Lift the plastic bottle and the bottle with white printed label together with both arms.",
+    "Use one arm for the bottle with green label and the other for the bottle with ridges near base.",
+    "Hold the bottle with white cap in one arm and the smooth green bottle in the other.",
+    "Pick up the pair the bottle with green label and the medium green bottle together.",
+    "Use separate arms to lift the bottle with white cap and the medium green bottle with capped neck.",
+    "Use each arm to secure one of the yellow container with rounded edges and the medium green bottle.",
+    "Lift the yellow bottle with a green design and the plastic bottle in one synchronized motion.",
+    "Take the yellow container with rounded edges and the handheld green bottle together, one per arm.",
+    "Pick the plastic bottle while the other arm picks the plastic bottle.",
+    "Take hold of the bottle with green label and the bottle with rounded neck at once.",
+    "Each arm should grab one bottle: the medium rectangular yellow bottle and the plastic bottle.",
+    "Grab both bottles in parallel, the yellow plastic bottle with white top and the plastic bottle.",
+    "Raise the bottle with white cap with one arm and the bottle with rounded neck with the other.",
+    "Reach for the medium rectangular yellow bottle and the plastic bottle with both arms at once.",
+    "Pick up both the medium rectangular yellow bottle and the bottle with rounded neck using separate arms.",
+    "Simultaneously grasp and lift the plastic bottle and the bottle with white printed label.",
+    "Assign one arm to the yellow plastic bottle with white top and one to the smooth green plastic bottle.",
+    "Grasp the different bottles the smooth bottle with rounded edges and the medium green bottle simultaneously.",
+    "Pick up the bottle with green and white labels and the green bottle with indented base simultaneously.",
+    "Raise both bottles at once: the bottle with a smooth plastic body and the bottle with ridges near base.",
+    "Hold both the rectangular bottle with cylindrical neck and the medium green bottle, one in each arm.",
+    "Grab the rectangular bottle with cylindrical neck and the smooth green bottle at the same time.",
+    "Raise the bottle with white cap and the bottle with narrow top at the same time.",
+    "Secure both the yellow plastic bottle with white top and the bottle with rounded neck simultaneously.",
+    "Catch the bottle with green and white labels and the medium green bottle together.",
+    "Lift both different bottles, the medium rectangular yellow bottle and the smooth green plastic bottle, together.",
+    "Use both arms to grasp the yellow container with rounded edges and the bottle with rounded neck together.",
+    "Grasp the yellow plastic bottle with white top as the other arm grasps the medium green bottle with capped neck.",
+    "Pick the medium rectangular yellow bottle and the medium green bottle with capped neck up in parallel.",
+    "Use both arms simultaneously for the rectangular bottle with cylindrical neck and the green bottle with indented base.",
+    "Lift the smooth bottle with rounded edges and the medium green bottle with capped neck together with both arms.",
+    "Use one arm for the rectangular bottle with cylindrical neck and the other for the plastic bottle.",
+    "Hold the yellow plastic bottle with white top in one arm and the bottle with white printed label in the other.",
+    "Pick up the pair the bottle with green and white labels and the medium-sized green bottle together.",
+    "Use separate arms to lift the yellow plastic bottle with white top and the smooth green plastic bottle.",
+    "Use each arm to secure one of the bottle with a smooth plastic body and the medium green bottle with capped neck.",
+    "Lift the bottle with a smooth plastic body and the plastic bottle in one synchronized motion.",
+    "Take the plastic bottle and the smooth green plastic bottle together, one per arm.",
+    "Pick the bottle with green label while the other arm picks the bottle with rounded neck.",
+    "Take hold of the yellow container with rounded edges and the smooth green bottle at once.",
+    "Each arm should grab one bottle: the yellow bottle with a green design and the bottle with ridges near base.",
+    "Grab both bottles in parallel, the yellow bottle with a green design and the medium-sized green bottle.",
+    "Raise the bottle with white cap with one arm and the medium green bottle with capped neck with the other.",
+    "Reach for the medium rectangular yellow bottle and the plastic bottle with both arms at once.",
+    "Pick up both the medium rectangular yellow bottle and the smooth green plastic bottle using separate arms.",
+    "Simultaneously grasp and lift the bottle with a smooth plastic body and the plastic bottle.",
+    "Assign one arm to the bottle with green label and one to the medium green bottle with capped neck.",
+    "Grasp the different bottles the bottle with a smooth plastic body and the bottle with white printed label simultaneously.",
+    "Pick up the yellow plastic bottle with white top and the bottle with ridges near base simultaneously.",
+    "Raise both bottles at once: the yellow bottle and the green bottle with indented base.",
+    "Hold both the medium rectangular yellow bottle and the medium-sized green bottle, one in each arm.",
+    "Grab the yellow bottle with a green design and the plastic bottle at the same time.",
+    "Raise the yellow bottle with a green design and the handheld green bottle at the same time.",
+    "Secure both the yellow bottle with a green design and the green bottle with indented base simultaneously.",
+    "Catch the medium rectangular yellow bottle and the smooth green bottle together.",
+    "Lift both different bottles, the medium rectangular yellow bottle and the plastic bottle, together.",
+    "Use both arms to grasp the smooth bottle with rounded edges and the bottle with ridges near base together.",
+    "Grasp the medium rectangular yellow bottle as the other arm grasps the medium green bottle with capped neck.",
+    "Pick the yellow bottle with a green design and the medium-sized green bottle up in parallel.",
+    "Use both arms simultaneously for the rectangular bottle with cylindrical neck and the smooth green bottle.",
+    "Lift the yellow plastic bottle with white top and the bottle with rounded neck together with both arms.",
+    "Use one arm for the yellow plastic bottle with white top and the other for the bottle with rounded neck.",
+    "Hold the rectangular bottle with cylindrical neck in one arm and the bottle with ridges near base in the other.",
+    "Pick up the pair the rectangular bottle with cylindrical neck and the medium green bottle together.",
+    "Use separate arms to lift the medium rectangular yellow bottle and the bottle with narrow top.",
+    "Use each arm to secure one of the yellow bottle with a green design and the smooth green bottle.",
+    "Lift the smooth bottle with rounded edges and the smooth green plastic bottle in one synchronized motion.",
+    "Take the rectangular bottle with cylindrical neck and the green bottle with indented base together, one per arm.",
+    "Pick the plastic bottle while the other arm picks the smooth green bottle.",
+    "Take hold of the bottle with a smooth plastic body and the plastic bottle at once.",
+    "Each arm should grab one bottle: the yellow bottle with a green design and the bottle with narrow top.",
+    "Grab both bottles in parallel, the bottle with a smooth plastic body and the bottle with white printed label.",
+    "Raise the bottle with white cap with one arm and the bottle with narrow top with the other."
+  ],
+  "unseen": [
+    "Lift the hand-sized yellow plastic bottle and the green bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom.",
+    "Use one arm for the yellow bottle for liquid storage and the other for the green plastic bottle with ridged bottom.",
+    "Lift the hand-sized yellow plastic bottle as the other arm lifts the green bottle.",
+    "Pick up both the hand-sized yellow plastic bottle and the green bottle together.",
+    "Take hold of the yellow bottle for liquid storage and the green bottle with white label at once.",
+    "Grasp the yellow bottle for liquid storage and the green plastic bottle with ridged bottom simultaneously.",
+    "Raise both different bottles, the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom, together.",
+    "Pick up the yellow bottle for liquid storage and the green bottle in parallel.",
+    "Grab the yellow rectangular bottle and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the yellow rectangular bottle and the green bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the yellow bottle for liquid storage and the green bottle.",
+    "Use one arm for the yellow rectangular bottle and the other for the green bottle.",
+    "Lift the yellow bottle for liquid storage as the other arm lifts the green bottle.",
+    "Pick up both the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom together.",
+    "Take hold of the yellow rectangular bottle and the green bottle with white label at once.",
+    "Grasp the yellow rectangular bottle and the green bottle simultaneously.",
+    "Raise both different bottles, the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom, together.",
+    "Pick up the yellow rectangular bottle and the green bottle with white label in parallel.",
+    "Grab the yellow rectangular bottle and the green bottle with white label at the same time.",
+    "Lift the yellow rectangular bottle and the green plastic bottle with ridged bottom simultaneously with separate arms.",
+    "Use each arm to grab one of the yellow bottle for liquid storage and the green bottle.",
+    "Use one arm for the hand-sized yellow plastic bottle and the other for the green bottle with white label.",
+    "Lift the yellow rectangular bottle as the other arm lifts the green bottle with white label.",
+    "Pick up both the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom together.",
+    "Take hold of the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom at once.",
+    "Grasp the hand-sized yellow plastic bottle and the green bottle simultaneously.",
+    "Raise both different bottles, the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom, together.",
+    "Pick up the yellow bottle for liquid storage and the green plastic bottle with ridged bottom in parallel.",
+    "Grab the yellow bottle for liquid storage and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the yellow rectangular bottle and the green bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the yellow bottle for liquid storage and the green bottle.",
+    "Use one arm for the yellow rectangular bottle and the other for the green plastic bottle with ridged bottom.",
+    "Lift the yellow rectangular bottle as the other arm lifts the green bottle.",
+    "Pick up both the hand-sized yellow plastic bottle and the green bottle with white label together.",
+    "Take hold of the hand-sized yellow plastic bottle and the green bottle with white label at once.",
+    "Grasp the yellow bottle for liquid storage and the green bottle simultaneously.",
+    "Raise both different bottles, the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom, together.",
+    "Pick up the yellow bottle for liquid storage and the green plastic bottle with ridged bottom in parallel.",
+    "Grab the yellow rectangular bottle and the green bottle at the same time.",
+    "Lift the yellow rectangular bottle and the green plastic bottle with ridged bottom simultaneously with separate arms.",
+    "Use each arm to grab one of the yellow rectangular bottle and the green bottle with white label.",
+    "Use one arm for the hand-sized yellow plastic bottle and the other for the green plastic bottle with ridged bottom.",
+    "Lift the hand-sized yellow plastic bottle as the other arm lifts the green bottle with white label.",
+    "Pick up both the hand-sized yellow plastic bottle and the green bottle together.",
+    "Take hold of the yellow rectangular bottle and the green plastic bottle with ridged bottom at once.",
+    "Grasp the yellow rectangular bottle and the green bottle with white label simultaneously.",
+    "Raise both different bottles, the hand-sized yellow plastic bottle and the green bottle, together.",
+    "Pick up the yellow bottle for liquid storage and the green plastic bottle with ridged bottom in parallel.",
+    "Grab the yellow bottle for liquid storage and the green bottle at the same time.",
+    "Lift the yellow rectangular bottle and the green bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the yellow rectangular bottle and the green bottle.",
+    "Use one arm for the yellow bottle for liquid storage and the other for the green plastic bottle with ridged bottom.",
+    "Lift the yellow rectangular bottle as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Pick up both the yellow rectangular bottle and the green plastic bottle with ridged bottom together.",
+    "Take hold of the hand-sized yellow plastic bottle and the green bottle with white label at once.",
+    "Grasp the yellow bottle for liquid storage and the green plastic bottle with ridged bottom simultaneously.",
+    "Raise both different bottles, the yellow bottle for liquid storage and the green bottle with white label, together.",
+    "Pick up the yellow rectangular bottle and the green plastic bottle with ridged bottom in parallel.",
+    "Grab the hand-sized yellow plastic bottle and the green bottle with white label at the same time.",
+    "Lift the yellow bottle for liquid storage and the green bottle with white label simultaneously with separate arms.",
+    "Use each arm to grab one of the hand-sized yellow plastic bottle and the green bottle with white label.",
+    "Use one arm for the yellow rectangular bottle and the other for the green plastic bottle with ridged bottom.",
+    "Lift the hand-sized yellow plastic bottle as the other arm lifts the green bottle.",
+    "Pick up both the yellow rectangular bottle and the green bottle with white label together.",
+    "Take hold of the yellow bottle for liquid storage and the green bottle with white label at once.",
+    "Grasp the hand-sized yellow plastic bottle and the green bottle with white label simultaneously.",
+    "Raise both different bottles, the yellow bottle for liquid storage and the green plastic bottle with ridged bottom, together.",
+    "Pick up the yellow bottle for liquid storage and the green plastic bottle with ridged bottom in parallel.",
+    "Grab the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the hand-sized yellow plastic bottle and the green bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the yellow bottle for liquid storage and the green plastic bottle with ridged bottom.",
+    "Use one arm for the hand-sized yellow plastic bottle and the other for the green bottle with white label.",
+    "Lift the yellow rectangular bottle as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Pick up both the yellow bottle for liquid storage and the green bottle with white label together.",
+    "Take hold of the yellow bottle for liquid storage and the green bottle at once.",
+    "Grasp the hand-sized yellow plastic bottle and the green bottle with white label simultaneously.",
+    "Raise both different bottles, the yellow bottle for liquid storage and the green bottle, together.",
+    "Pick up the yellow rectangular bottle and the green bottle in parallel.",
+    "Grab the yellow bottle for liquid storage and the green bottle with white label at the same time.",
+    "Lift the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom simultaneously with separate arms.",
+    "Use each arm to grab one of the yellow bottle for liquid storage and the green bottle.",
+    "Use one arm for the yellow bottle for liquid storage and the other for the green bottle.",
+    "Lift the yellow bottle for liquid storage as the other arm lifts the green plastic bottle with ridged bottom.",
+    "Pick up both the yellow bottle for liquid storage and the green bottle with white label together.",
+    "Take hold of the yellow rectangular bottle and the green bottle at once.",
+    "Grasp the hand-sized yellow plastic bottle and the green bottle simultaneously.",
+    "Raise both different bottles, the yellow rectangular bottle and the green plastic bottle with ridged bottom, together.",
+    "Pick up the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom in parallel.",
+    "Grab the yellow rectangular bottle and the green plastic bottle with ridged bottom at the same time.",
+    "Lift the yellow rectangular bottle and the green bottle with white label simultaneously with separate arms.",
+    "Use each arm to grab one of the yellow bottle for liquid storage and the green plastic bottle with ridged bottom.",
+    "Use one arm for the yellow rectangular bottle and the other for the green bottle.",
+    "Lift the yellow rectangular bottle as the other arm lifts the green bottle with white label.",
+    "Pick up both the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom together.",
+    "Take hold of the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom at once.",
+    "Grasp the yellow bottle for liquid storage and the green plastic bottle with ridged bottom simultaneously.",
+    "Raise both different bottles, the hand-sized yellow plastic bottle and the green bottle with white label, together.",
+    "Pick up the hand-sized yellow plastic bottle and the green plastic bottle with ridged bottom in parallel.",
+    "Grab the yellow rectangular bottle and the green plastic bottle with ridged bottom at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000026.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d37f93773c78feb647075601a26305c7e526780
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000026.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Each arm should grab one bottle: the bottle with dark brown color and the small bottle with bright yellow lid.",
+    "Use each arm to secure one of the bottle with white cap and the yellow-capped orange plastic bottle.",
+    "Take hold of the bottle with dark brown color and the cylindrical orange bottle with smooth surface at once.",
+    "Pick up the pair the smooth brown bottle and the orange bottle with bold labeling together.",
+    "Take the bottle with dark brown color and the liquid container with orange body together, one per arm.",
+    "Simultaneously grasp and lift the handheld brown bottle with white lid and the yellow-capped orange plastic bottle.",
+    "Pick up the handheld brown bottle with white lid and the rounded bottom orange plastic bottle simultaneously.",
+    "Grab both bottles in parallel, the bottle with dark brown color and the yellow-capped bottle for beverages.",
+    "Raise the bottle with dark brown color and the orange bottle at the same time.",
+    "Use both arms simultaneously for the bottle with brown body and white top and the bottle with yellow cap.",
+    "Hold both the plastic bottle with printed label and the small bottle with bright yellow lid, one in each arm.",
+    "Use one arm for the plastic bottle with printed label and the other for the small bottle with bright yellow lid.",
+    "Catch the bottle with white cap and the yellow-capped bottle for beverages together.",
+    "Lift the medium bottle with smooth texture and the liquid container with orange body in one synchronized motion.",
+    "Grasp the different bottles the smooth brown bottle and the liquid container with orange body simultaneously.",
+    "Assign one arm to the bottle with dark brown color and one to the rounded bottom orange plastic bottle.",
+    "Pick the bottle with dark brown color and the smooth orange cylindrical bottle up in parallel.",
+    "Reach for the bottle with brown body and white top and the rounded orange bottle with yellow top with both arms at once.",
+    "Lift the bottle with white cap and the yellow-capped orange plastic bottle together with both arms.",
+    "Lift both different bottles, the bottle with white cap and the rounded orange bottle with yellow top, together.",
+    "Hold the medium plastic bottle in one arm and the liquid container with orange body in the other.",
+    "Secure both the plastic bottle for liquids and the yellow-capped orange plastic bottle simultaneously.",
+    "Grab the cylindrical bottle with narrow neck and the yellow-capped orange plastic bottle at the same time.",
+    "Raise the cylindrical bottle with narrow neck with one arm and the small bottle with bright yellow lid with the other.",
+    "Use separate arms to lift the plastic bottle with printed label and the small bottle with bright yellow lid.",
+    "Use both arms to grasp the medium plastic bottle and the orange bottle together.",
+    "Grasp the rounded bottle with printed details as the other arm grasps the yellow-capped bottle for beverages.",
+    "Pick the medium plastic bottle while the other arm picks the yellow-capped orange plastic bottle.",
+    "Raise both bottles at once: the medium bottle with smooth texture and the rounded orange bottle with yellow top.",
+    "Pick up both the plastic bottle for liquids and the handheld medium-sized liquid bottle using separate arms.",
+    "Each arm should grab one bottle: the medium plastic bottle and the rounded bottom orange plastic bottle.",
+    "Use each arm to secure one of the white-capped brown cylindrical bottle and the orange bottle with bold labeling.",
+    "Take hold of the plastic bottle with printed label and the handheld medium-sized liquid bottle at once.",
+    "Pick up the pair the plastic bottle with printed label and the rounded bottom orange plastic bottle together.",
+    "Take the medium bottle with smooth texture and the orange bottle with bold labeling together, one per arm.",
+    "Simultaneously grasp and lift the handheld brown bottle with white lid and the yellow-capped bottle for beverages.",
+    "Pick up the smooth brown bottle and the small bottle with bright yellow lid simultaneously.",
+    "Grab both bottles in parallel, the medium plastic bottle and the rounded bottom orange plastic bottle.",
+    "Raise the medium bottle with smooth texture and the rounded bottom orange plastic bottle at the same time.",
+    "Use both arms simultaneously for the plastic bottle with printed label and the bottle with yellow cap.",
+    "Hold both the smooth brown bottle and the cylindrical orange bottle with smooth surface, one in each arm.",
+    "Use one arm for the smooth brown bottle and the other for the orange bottle.",
+    "Catch the handheld brown bottle with white lid and the cylindrical orange bottle with smooth surface together.",
+    "Lift the medium plastic bottle and the rounded orange bottle with yellow top in one synchronized motion.",
+    "Grasp the different bottles the plastic bottle for liquids and the small bottle with bright yellow lid simultaneously.",
+    "Assign one arm to the plastic bottle for liquids and one to the handheld medium-sized liquid bottle.",
+    "Pick the bottle with white cap and the rounded bottom orange plastic bottle up in parallel.",
+    "Reach for the rounded bottle with printed details and the handheld medium-sized liquid bottle with both arms at once.",
+    "Lift the plastic bottle for liquids and the smooth orange cylindrical bottle together with both arms.",
+    "Lift both different bottles, the smooth brown bottle and the rounded orange bottle with yellow top, together.",
+    "Hold the bottle with white cap in one arm and the liquid container with orange body in the other.",
+    "Secure both the bottle with brown body and white top and the orange bottle with bold labeling simultaneously.",
+    "Grab the plastic bottle with printed label and the handheld medium-sized liquid bottle at the same time.",
+    "Raise the white-capped brown cylindrical bottle with one arm and the rounded orange bottle with yellow top with the other.",
+    "Use separate arms to lift the smooth brown bottle and the small bottle with bright yellow lid.",
+    "Use both arms to grasp the plastic bottle with printed label and the cylindrical orange bottle with smooth surface together.",
+    "Grasp the smooth brown bottle as the other arm grasps the yellow-capped bottle for beverages.",
+    "Pick the handheld brown bottle with white lid while the other arm picks the liquid container with orange body.",
+    "Raise both bottles at once: the bottle with dark brown color and the handheld medium-sized liquid bottle.",
+    "Pick up both the smooth brown bottle and the bottle with yellow cap using separate arms.",
+    "Each arm should grab one bottle: the white-capped brown cylindrical bottle and the orange bottle.",
+    "Use each arm to secure one of the cylindrical bottle with narrow neck and the yellow-capped orange plastic bottle.",
+    "Take hold of the plastic bottle with printed label and the cylindrical orange bottle with smooth surface at once.",
+    "Pick up the pair the rounded bottle with printed details and the rounded bottom orange plastic bottle together.",
+    "Take the handheld brown bottle with white lid and the smooth orange cylindrical bottle together, one per arm.",
+    "Simultaneously grasp and lift the handheld brown bottle with white lid and the smooth orange cylindrical bottle.",
+    "Pick up the plastic bottle for liquids and the handheld medium-sized liquid bottle simultaneously.",
+    "Grab both bottles in parallel, the bottle with dark brown color and the small bottle with bright yellow lid.",
+    "Raise the bottle with white cap and the yellow-capped orange plastic bottle at the same time.",
+    "Use both arms simultaneously for the handheld brown bottle with white lid and the yellow-capped orange plastic bottle.",
+    "Hold both the plastic bottle for liquids and the orange bottle with bold labeling, one in each arm.",
+    "Use one arm for the white-capped brown cylindrical bottle and the other for the cylindrical orange bottle with smooth surface.",
+    "Catch the cylindrical bottle with narrow neck and the yellow-capped orange plastic bottle together.",
+    "Lift the rounded bottle with printed details and the yellow-capped orange plastic bottle in one synchronized motion.",
+    "Grasp the different bottles the smooth brown bottle and the smooth orange cylindrical bottle simultaneously.",
+    "Assign one arm to the rounded bottle with printed details and one to the orange bottle.",
+    "Pick the smooth brown bottle and the rounded orange bottle with yellow top up in parallel.",
+    "Reach for the bottle with white cap and the yellow-capped orange plastic bottle with both arms at once.",
+    "Lift the plastic bottle with printed label and the handheld medium-sized liquid bottle together with both arms.",
+    "Lift both different bottles, the bottle with brown body and white top and the handheld medium-sized liquid bottle, together.",
+    "Hold the white-capped brown cylindrical bottle in one arm and the cylindrical orange bottle with smooth surface in the other.",
+    "Secure both the plastic bottle with printed label and the small bottle with bright yellow lid simultaneously.",
+    "Grab the plastic bottle with printed label and the small bottle with bright yellow lid at the same time.",
+    "Raise the medium plastic bottle with one arm and the yellow-capped orange plastic bottle with the other.",
+    "Use separate arms to lift the smooth brown bottle and the smooth orange cylindrical bottle.",
+    "Use both arms to grasp the plastic bottle with printed label and the liquid container with orange body together.",
+    "Grasp the smooth brown bottle as the other arm grasps the orange bottle.",
+    "Pick the cylindrical bottle with narrow neck while the other arm picks the bottle with yellow cap.",
+    "Raise both bottles at once: the cylindrical bottle with narrow neck and the rounded orange bottle with yellow top.",
+    "Pick up both the plastic bottle with printed label and the cylindrical orange bottle with smooth surface using separate arms.",
+    "Each arm should grab one bottle: the medium bottle with smooth texture and the cylindrical orange bottle with smooth surface.",
+    "Use each arm to secure one of the smooth brown bottle and the cylindrical orange bottle with smooth surface.",
+    "Take hold of the plastic bottle with printed label and the cylindrical orange bottle with smooth surface at once.",
+    "Pick up the pair the handheld brown bottle with white lid and the smooth orange cylindrical bottle together.",
+    "Take the white-capped brown cylindrical bottle and the bottle with yellow cap together, one per arm.",
+    "Simultaneously grasp and lift the smooth brown bottle and the liquid container with orange body.",
+    "Pick up the medium bottle with smooth texture and the orange bottle simultaneously.",
+    "Grab both bottles in parallel, the plastic bottle for liquids and the cylindrical orange bottle with smooth surface.",
+    "Raise the cylindrical bottle with narrow neck and the cylindrical orange bottle with smooth surface at the same time.",
+    "Use both arms simultaneously for the rounded bottle with printed details and the yellow-capped bottle for beverages."
+  ],
+  "unseen": [
+    "Pick up both the brown bottle and the medium bottle for liquids together.",
+    "Use each arm to grab one of the brown bottle and the plastic orange bottle with rounded base.",
+    "Raise both different bottles, the brown bottle and the plastic orange bottle with rounded base, together.",
+    "Lift the brown cylindrical bottle with label as the other arm lifts the medium plastic bottle.",
+    "Lift the brown bottle and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Use one arm for the brown bottle and the other for the medium plastic bottle.",
+    "Grasp the brown cylindrical bottle with label and the medium bottle for liquids simultaneously.",
+    "Grab the brown cylindrical bottle with label and the medium plastic bottle at the same time.",
+    "Take hold of the brown bottle and the plastic orange bottle with rounded base at once.",
+    "Pick up the lightweight plastic brown bottle and the medium bottle for liquids in parallel.",
+    "Pick up both the brown bottle and the medium plastic bottle together.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the medium plastic bottle.",
+    "Raise both different bottles, the brown bottle and the medium bottle for liquids, together.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the plastic orange bottle with rounded base.",
+    "Lift the brown cylindrical bottle with label and the medium plastic bottle simultaneously with separate arms.",
+    "Use one arm for the brown bottle and the other for the medium plastic bottle.",
+    "Grasp the lightweight plastic brown bottle and the plastic orange bottle with rounded base simultaneously.",
+    "Grab the lightweight plastic brown bottle and the plastic orange bottle with rounded base at the same time.",
+    "Take hold of the lightweight plastic brown bottle and the medium bottle for liquids at once.",
+    "Pick up the brown bottle and the medium plastic bottle in parallel.",
+    "Pick up both the lightweight plastic brown bottle and the medium plastic bottle together.",
+    "Use each arm to grab one of the brown bottle and the medium plastic bottle.",
+    "Raise both different bottles, the brown bottle and the plastic orange bottle with rounded base, together.",
+    "Lift the brown cylindrical bottle with label as the other arm lifts the medium plastic bottle.",
+    "Lift the lightweight plastic brown bottle and the medium bottle for liquids simultaneously with separate arms.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the plastic orange bottle with rounded base.",
+    "Grasp the brown cylindrical bottle with label and the medium plastic bottle simultaneously.",
+    "Grab the brown bottle and the medium plastic bottle at the same time.",
+    "Take hold of the brown bottle and the medium plastic bottle at once.",
+    "Pick up the brown bottle and the medium plastic bottle in parallel.",
+    "Pick up both the brown bottle and the medium bottle for liquids together.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the plastic orange bottle with rounded base.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the medium plastic bottle, together.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the medium bottle for liquids.",
+    "Lift the brown bottle and the medium bottle for liquids simultaneously with separate arms.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the medium plastic bottle.",
+    "Grasp the lightweight plastic brown bottle and the plastic orange bottle with rounded base simultaneously.",
+    "Grab the brown bottle and the medium plastic bottle at the same time.",
+    "Take hold of the brown cylindrical bottle with label and the plastic orange bottle with rounded base at once.",
+    "Pick up the brown cylindrical bottle with label and the medium plastic bottle in parallel.",
+    "Pick up both the brown cylindrical bottle with label and the medium plastic bottle together.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the medium plastic bottle.",
+    "Raise both different bottles, the brown bottle and the plastic orange bottle with rounded base, together.",
+    "Lift the brown cylindrical bottle with label as the other arm lifts the medium plastic bottle.",
+    "Lift the brown bottle and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the medium plastic bottle.",
+    "Grasp the brown bottle and the medium plastic bottle simultaneously.",
+    "Grab the brown cylindrical bottle with label and the medium plastic bottle at the same time.",
+    "Take hold of the brown bottle and the medium bottle for liquids at once.",
+    "Pick up the brown cylindrical bottle with label and the medium bottle for liquids in parallel.",
+    "Pick up both the brown cylindrical bottle with label and the medium bottle for liquids together.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the medium plastic bottle.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the medium plastic bottle, together.",
+    "Lift the brown cylindrical bottle with label as the other arm lifts the medium bottle for liquids.",
+    "Lift the brown cylindrical bottle with label and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the medium plastic bottle.",
+    "Grasp the brown bottle and the plastic orange bottle with rounded base simultaneously.",
+    "Grab the lightweight plastic brown bottle and the medium bottle for liquids at the same time.",
+    "Take hold of the lightweight plastic brown bottle and the medium bottle for liquids at once.",
+    "Pick up the lightweight plastic brown bottle and the plastic orange bottle with rounded base in parallel.",
+    "Pick up both the brown cylindrical bottle with label and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab one of the brown bottle and the medium bottle for liquids.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the medium bottle for liquids, together.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the plastic orange bottle with rounded base.",
+    "Lift the brown bottle and the medium bottle for liquids simultaneously with separate arms.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the medium plastic bottle.",
+    "Grasp the brown bottle and the plastic orange bottle with rounded base simultaneously.",
+    "Grab the brown cylindrical bottle with label and the medium plastic bottle at the same time.",
+    "Take hold of the lightweight plastic brown bottle and the medium plastic bottle at once.",
+    "Pick up the brown bottle and the plastic orange bottle with rounded base in parallel.",
+    "Pick up both the lightweight plastic brown bottle and the medium bottle for liquids together.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the medium bottle for liquids.",
+    "Raise both different bottles, the brown bottle and the medium bottle for liquids, together.",
+    "Lift the brown cylindrical bottle with label as the other arm lifts the medium plastic bottle.",
+    "Lift the lightweight plastic brown bottle and the medium plastic bottle simultaneously with separate arms.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the plastic orange bottle with rounded base.",
+    "Grasp the brown cylindrical bottle with label and the medium plastic bottle simultaneously.",
+    "Grab the brown cylindrical bottle with label and the plastic orange bottle with rounded base at the same time.",
+    "Take hold of the brown bottle and the medium plastic bottle at once.",
+    "Pick up the brown bottle and the medium plastic bottle in parallel.",
+    "Pick up both the brown bottle and the medium plastic bottle together.",
+    "Use each arm to grab one of the brown bottle and the medium bottle for liquids.",
+    "Raise both different bottles, the brown bottle and the plastic orange bottle with rounded base, together.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the medium plastic bottle.",
+    "Lift the brown bottle and the medium plastic bottle simultaneously with separate arms.",
+    "Use one arm for the brown bottle and the other for the medium bottle for liquids.",
+    "Grasp the lightweight plastic brown bottle and the medium bottle for liquids simultaneously.",
+    "Grab the brown cylindrical bottle with label and the plastic orange bottle with rounded base at the same time.",
+    "Take hold of the lightweight plastic brown bottle and the plastic orange bottle with rounded base at once.",
+    "Pick up the brown bottle and the medium plastic bottle in parallel.",
+    "Pick up both the brown bottle and the plastic orange bottle with rounded base together.",
+    "Use each arm to grab one of the brown bottle and the plastic orange bottle with rounded base.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the plastic orange bottle with rounded base, together.",
+    "Lift the brown bottle as the other arm lifts the medium plastic bottle.",
+    "Lift the brown bottle and the medium plastic bottle simultaneously with separate arms.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the plastic orange bottle with rounded base.",
+    "Grasp the brown cylindrical bottle with label and the medium bottle for liquids simultaneously.",
+    "Grab the brown bottle and the medium bottle for liquids at the same time.",
+    "Take hold of the brown cylindrical bottle with label and the plastic orange bottle with rounded base at once.",
+    "Pick up the lightweight plastic brown bottle and the medium bottle for liquids in parallel."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000027.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..db87bd76880e83642ba3b100b7642962ff4652b5
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000027.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to grasp the yellow capped drink bottle and the plastic bottle with bright red color together.",
+    "Secure both the black cylindrical bottle with ridges and the smooth red cylindrical bottle simultaneously.",
+    "Take hold of the beverage bottle with black body and the medium-size plastic bottle at once.",
+    "Assign one arm to the black plastic bottle with Pepsi logo and one to the plastic bottle with bright red color.",
+    "Use both arms simultaneously for the bottle with blue and yellow print and the red bottle with screw cap.",
+    "Raise both bottles at once: the yellow capped drink bottle and the red bottle with white bottom text.",
+    "Use each arm to secure one of the black plastic bottle with Pepsi logo and the yellow text bottle.",
+    "Pick the yellow-capped cylindrical bottle while the other arm picks the red bottle with narrow neck.",
+    "Reach for the medium bottle with yellow cap and the smooth red cylindrical bottle with both arms at once.",
+    "Raise the black cylindrical bottle with ridges and the red bottle at the same time.",
+    "Use one arm for the plastic bottle with colorful label and the other for the smooth red cylindrical bottle.",
+    "Grasp the medium black bottle with printed label as the other arm grasps the red bottle with screw cap.",
+    "Pick up the plastic bottle with colorful label and the red bottle with screw cap simultaneously.",
+    "Lift the medium bottle with yellow cap and the red bottle with curved grooves together with both arms.",
+    "Grab both bottles in parallel, the black plastic bottle with Pepsi logo and the red bottle with screw cap.",
+    "Take the black cylindrical bottle with ridges and the bottle with red cap together, one per arm.",
+    "Grab the black plastic bottle with Pepsi logo and the red bottle with curved grooves at the same time.",
+    "Pick up both the black bottle and the smooth red cylindrical bottle using separate arms.",
+    "Use separate arms to lift the black plastic bottle with Pepsi logo and the bottle with red cap.",
+    "Hold the yellow-capped cylindrical bottle in one arm and the bottle with red cap in the other.",
+    "Grasp the different bottles the black cylindrical bottle with ridges and the plastic bottle simultaneously.",
+    "Simultaneously grasp and lift the plastic bottle with colorful label and the yellow text bottle.",
+    "Each arm should grab one bottle: the drink bottle with rounded yellow lid and the handheld plastic bottle.",
+    "Raise the black cylindrical bottle with ridges with one arm and the red bottle with the other.",
+    "Hold both the smooth black bottle with ridges and the red bottle with narrow neck, one in each arm.",
+    "Pick up the pair the black plastic bottle with Pepsi logo and the handheld plastic bottle together.",
+    "Lift both different bottles, the black plastic bottle with Pepsi logo and the red bottle with narrow neck, together.",
+    "Lift the black bottle and the bottle with red cap in one synchronized motion.",
+    "Catch the yellow-capped cylindrical bottle and the red bottle together.",
+    "Pick the black bottle and the plastic bottle with bright red color up in parallel.",
+    "Use both arms to grasp the black cylindrical bottle with ridges and the red bottle with narrow neck together.",
+    "Secure both the black cylindrical bottle with ridges and the red bottle with narrow neck simultaneously.",
+    "Take hold of the drink bottle with rounded yellow lid and the red bottle at once.",
+    "Assign one arm to the black bottle and one to the handheld plastic bottle.",
+    "Use both arms simultaneously for the yellow-capped cylindrical bottle and the plastic bottle with bright red color.",
+    "Raise both bottles at once: the bottle with blue and yellow print and the red bottle.",
+    "Use each arm to secure one of the beverage bottle with black body and the medium-size plastic bottle.",
+    "Pick the yellow capped drink bottle while the other arm picks the red bottle with curved grooves.",
+    "Reach for the drink bottle with rounded yellow lid and the medium-size plastic bottle with both arms at once.",
+    "Raise the black plastic bottle with Pepsi logo and the plastic bottle with bright red color at the same time.",
+    "Use one arm for the smooth black bottle with ridges and the other for the smooth red cylindrical bottle.",
+    "Grasp the medium bottle with yellow cap as the other arm grasps the red bottle.",
+    "Pick up the drink bottle with rounded yellow lid and the bottle with red cap simultaneously.",
+    "Lift the smooth black bottle with ridges and the smooth red cylindrical bottle together with both arms.",
+    "Grab both bottles in parallel, the medium black bottle with printed label and the red bottle with curved grooves.",
+    "Take the beverage bottle with black body and the plastic bottle together, one per arm.",
+    "Grab the yellow capped drink bottle and the red bottle with screw cap at the same time.",
+    "Pick up both the smooth black bottle with ridges and the red bottle with white bottom text using separate arms.",
+    "Use separate arms to lift the medium black bottle with printed label and the plastic bottle with bright red color.",
+    "Hold the medium bottle with yellow cap in one arm and the medium-size plastic bottle in the other.",
+    "Grasp the different bottles the medium bottle with yellow cap and the plastic bottle with bright red color simultaneously.",
+    "Simultaneously grasp and lift the yellow-capped cylindrical bottle and the red bottle with curved grooves.",
+    "Each arm should grab one bottle: the bottle with blue and yellow print and the red bottle with narrow neck.",
+    "Raise the black plastic bottle with Pepsi logo with one arm and the red bottle with curved grooves with the other.",
+    "Hold both the bottle with blue and yellow print and the red bottle with screw cap, one in each arm.",
+    "Pick up the pair the yellow-capped cylindrical bottle and the red bottle with curved grooves together.",
+    "Lift both different bottles, the black cylindrical bottle with ridges and the plastic bottle, together.",
+    "Lift the medium bottle with yellow cap and the red bottle with screw cap in one synchronized motion.",
+    "Catch the black plastic bottle with Pepsi logo and the medium-size plastic bottle together.",
+    "Pick the yellow capped drink bottle and the bottle with red cap up in parallel.",
+    "Use both arms to grasp the black cylindrical bottle with ridges and the plastic bottle together.",
+    "Secure both the plastic bottle with colorful label and the medium-size plastic bottle simultaneously.",
+    "Take hold of the beverage bottle with black body and the plastic bottle at once.",
+    "Assign one arm to the medium black bottle with printed label and one to the plastic bottle with bright red color.",
+    "Use both arms simultaneously for the medium bottle with yellow cap and the red bottle with narrow neck.",
+    "Raise both bottles at once: the drink bottle with rounded yellow lid and the red bottle with screw cap.",
+    "Use each arm to secure one of the medium bottle with yellow cap and the plastic bottle with bright red color.",
+    "Pick the beverage bottle with black body while the other arm picks the red bottle with narrow neck.",
+    "Reach for the plastic bottle with colorful label and the red bottle with white bottom text with both arms at once.",
+    "Raise the black plastic bottle with Pepsi logo and the smooth red cylindrical bottle at the same time.",
+    "Use one arm for the yellow-capped cylindrical bottle and the other for the bottle with red cap.",
+    "Grasp the yellow capped drink bottle as the other arm grasps the red bottle with white bottom text.",
+    "Pick up the medium bottle with yellow cap and the yellow text bottle simultaneously.",
+    "Lift the beverage bottle with black body and the smooth red cylindrical bottle together with both arms.",
+    "Grab both bottles in parallel, the black bottle and the plastic bottle.",
+    "Take the yellow-capped cylindrical bottle and the bottle with red cap together, one per arm.",
+    "Grab the black cylindrical bottle with ridges and the red bottle with screw cap at the same time.",
+    "Pick up both the black cylindrical bottle with ridges and the red bottle using separate arms.",
+    "Use separate arms to lift the plastic bottle with colorful label and the red bottle with screw cap.",
+    "Hold the plastic bottle with colorful label in one arm and the plastic bottle with bright red color in the other.",
+    "Grasp the different bottles the medium black bottle with printed label and the bottle with red cap simultaneously.",
+    "Simultaneously grasp and lift the black cylindrical bottle with ridges and the plastic bottle.",
+    "Each arm should grab one bottle: the bottle with blue and yellow print and the red bottle with narrow neck.",
+    "Raise the yellow capped drink bottle with one arm and the smooth red cylindrical bottle with the other.",
+    "Hold both the drink bottle with rounded yellow lid and the red bottle with screw cap, one in each arm.",
+    "Pick up the pair the black plastic bottle with Pepsi logo and the red bottle with curved grooves together.",
+    "Lift both different bottles, the yellow-capped cylindrical bottle and the medium-size plastic bottle, together.",
+    "Lift the medium black bottle with printed label and the red bottle with screw cap in one synchronized motion.",
+    "Catch the black plastic bottle with Pepsi logo and the plastic bottle together.",
+    "Pick the yellow-capped cylindrical bottle and the red bottle up in parallel.",
+    "Use both arms to grasp the bottle with blue and yellow print and the plastic bottle with bright red color together.",
+    "Secure both the medium black bottle with printed label and the handheld plastic bottle simultaneously.",
+    "Take hold of the yellow-capped cylindrical bottle and the plastic bottle at once.",
+    "Assign one arm to the drink bottle with rounded yellow lid and one to the red bottle with screw cap.",
+    "Use both arms simultaneously for the black plastic bottle with Pepsi logo and the plastic bottle with bright red color.",
+    "Raise both bottles at once: the drink bottle with rounded yellow lid and the red bottle with narrow neck.",
+    "Use each arm to secure one of the yellow capped drink bottle and the red bottle with narrow neck.",
+    "Pick the drink bottle with rounded yellow lid while the other arm picks the medium-size plastic bottle.",
+    "Reach for the beverage bottle with black body and the handheld plastic bottle with both arms at once.",
+    "Raise the bottle with blue and yellow print and the plastic bottle with bright red color at the same time."
+  ],
+  "unseen": [
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow Chinese characters, together.",
+    "Lift the bottle with ridges near base and the shiny red bottle simultaneously with separate arms.",
+    "Grab the plastic bottle with blue label and the bottle with white and yellow label at the same time.",
+    "Pick up both the bottle with ridges near base and the bottle with white and yellow label together.",
+    "Grasp the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters simultaneously.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up the bottle with ridges near base and the bottle with yellow Chinese characters in parallel.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with yellow Chinese characters.",
+    "Take hold of the hand-sized bottle with ridged bottom and the bottle with white and yellow label at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with white and yellow label.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with white and yellow label, together.",
+    "Lift the plastic bottle with blue label and the shiny red bottle simultaneously with separate arms.",
+    "Grab the plastic bottle with blue label and the bottle with white and yellow label at the same time.",
+    "Pick up both the plastic bottle with blue label and the shiny red bottle together.",
+    "Grasp the plastic bottle with blue label and the bottle with yellow Chinese characters simultaneously.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with white and yellow label.",
+    "Pick up the bottle with ridges near base and the bottle with white and yellow label in parallel.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with yellow Chinese characters.",
+    "Take hold of the bottle with ridges near base and the shiny red bottle at once.",
+    "Use one arm for the plastic bottle with blue label and the other for the shiny red bottle.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the bottle with white and yellow label, together.",
+    "Lift the plastic bottle with blue label and the bottle with white and yellow label simultaneously with separate arms.",
+    "Grab the plastic bottle with blue label and the bottle with white and yellow label at the same time.",
+    "Pick up both the bottle with ridges near base and the shiny red bottle together.",
+    "Grasp the bottle with ridges near base and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with ridges near base as the other arm lifts the shiny red bottle.",
+    "Pick up the plastic bottle with blue label and the shiny red bottle in parallel.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the shiny red bottle.",
+    "Take hold of the plastic bottle with blue label and the shiny red bottle at once.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the bottle with white and yellow label.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters, together.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with white and yellow label simultaneously with separate arms.",
+    "Grab the plastic bottle with blue label and the shiny red bottle at the same time.",
+    "Pick up both the plastic bottle with blue label and the bottle with white and yellow label together.",
+    "Grasp the plastic bottle with blue label and the bottle with yellow Chinese characters simultaneously.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with white and yellow label in parallel.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with yellow Chinese characters.",
+    "Take hold of the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the bottle with white and yellow label.",
+    "Raise both different bottles, the bottle with ridges near base and the bottle with yellow Chinese characters, together.",
+    "Lift the plastic bottle with blue label and the shiny red bottle simultaneously with separate arms.",
+    "Grab the plastic bottle with blue label and the shiny red bottle at the same time.",
+    "Pick up both the hand-sized bottle with ridged bottom and the shiny red bottle together.",
+    "Grasp the bottle with ridges near base and the bottle with yellow Chinese characters simultaneously.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the bottle with white and yellow label.",
+    "Pick up the hand-sized bottle with ridged bottom and the shiny red bottle in parallel.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with yellow Chinese characters.",
+    "Take hold of the bottle with ridges near base and the shiny red bottle at once.",
+    "Use one arm for the plastic bottle with blue label and the other for the shiny red bottle.",
+    "Raise both different bottles, the bottle with ridges near base and the bottle with yellow Chinese characters, together.",
+    "Lift the hand-sized bottle with ridged bottom and the shiny red bottle simultaneously with separate arms.",
+    "Grab the bottle with ridges near base and the bottle with white and yellow label at the same time.",
+    "Pick up both the plastic bottle with blue label and the bottle with white and yellow label together.",
+    "Grasp the hand-sized bottle with ridged bottom and the shiny red bottle simultaneously.",
+    "Lift the plastic bottle with blue label as the other arm lifts the bottle with white and yellow label.",
+    "Pick up the bottle with ridges near base and the bottle with yellow Chinese characters in parallel.",
+    "Use each arm to grab one of the bottle with ridges near base and the bottle with yellow Chinese characters.",
+    "Take hold of the plastic bottle with blue label and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the plastic bottle with blue label and the other for the bottle with yellow Chinese characters.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the shiny red bottle, together.",
+    "Lift the plastic bottle with blue label and the shiny red bottle simultaneously with separate arms.",
+    "Grab the hand-sized bottle with ridged bottom and the shiny red bottle at the same time.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters together.",
+    "Grasp the bottle with ridges near base and the shiny red bottle simultaneously.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the shiny red bottle.",
+    "Pick up the bottle with ridges near base and the bottle with white and yellow label in parallel.",
+    "Use each arm to grab one of the plastic bottle with blue label and the shiny red bottle.",
+    "Take hold of the bottle with ridges near base and the bottle with white and yellow label at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with white and yellow label.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with white and yellow label, together.",
+    "Lift the plastic bottle with blue label and the shiny red bottle simultaneously with separate arms.",
+    "Grab the plastic bottle with blue label and the shiny red bottle at the same time.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with white and yellow label together.",
+    "Grasp the hand-sized bottle with ridged bottom and the bottle with white and yellow label simultaneously.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up the bottle with ridges near base and the bottle with white and yellow label in parallel.",
+    "Use each arm to grab one of the bottle with ridges near base and the shiny red bottle.",
+    "Take hold of the plastic bottle with blue label and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with white and yellow label.",
+    "Raise both different bottles, the bottle with ridges near base and the bottle with white and yellow label, together.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Grab the bottle with ridges near base and the shiny red bottle at the same time.",
+    "Pick up both the bottle with ridges near base and the shiny red bottle together.",
+    "Grasp the plastic bottle with blue label and the shiny red bottle simultaneously.",
+    "Lift the plastic bottle with blue label as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up the plastic bottle with blue label and the bottle with white and yellow label in parallel.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the shiny red bottle.",
+    "Take hold of the plastic bottle with blue label and the bottle with white and yellow label at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with yellow Chinese characters.",
+    "Raise both different bottles, the bottle with ridges near base and the bottle with white and yellow label, together.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with white and yellow label simultaneously with separate arms.",
+    "Grab the bottle with ridges near base and the bottle with white and yellow label at the same time.",
+    "Pick up both the bottle with ridges near base and the bottle with yellow Chinese characters together.",
+    "Grasp the plastic bottle with blue label and the shiny red bottle simultaneously.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with yellow Chinese characters.",
+    "Pick up the bottle with ridges near base and the shiny red bottle in parallel.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters.",
+    "Take hold of the plastic bottle with blue label and the shiny red bottle at once.",
+    "Use one arm for the plastic bottle with blue label and the other for the bottle with yellow Chinese characters."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000028.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..82a35279268ed4c8859fce369e59786fb3821093
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000028.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the white bottle with red text and the other for the medium bottle with colorful label.",
+    "Raise the bottle with orange screw cap and the smooth orange bottle at the same time.",
+    "Use each arm to secure one of the white bottle and the smooth orange bottle.",
+    "Take the cylindrical bottle with red writing and the grooved orange drink bottle together, one per arm.",
+    "Assign one arm to the handheld white bottle with cap and one to the smooth orange bottle.",
+    "Grab the medium-sized bottle and the curved orange soda bottle at the same time.",
+    "Pick the bottle with orange screw cap while the other arm picks the light and medium-sized bottle.",
+    "Lift the white cylindrical bottle and the light and medium-sized bottle together with both arms.",
+    "Raise both bottles at once: the bottle with tapering neck and the smooth orange bottle.",
+    "Use both arms simultaneously for the white cylindrical bottle and the bottle for holding drinks.",
+    "Use both arms to grasp the medium-sized bottle and the bottle for holding drinks together.",
+    "Hold both the cylindrical bottle with red writing and the plastic bottle, one in each arm.",
+    "Pick up the pair the white bottle with red text and the orange drink bottle with label together.",
+    "Take hold of the plastic bottle and the bottle for holding drinks at once.",
+    "Grasp the different bottles the medium-sized bottle and the cylindrical orange plastic bottle simultaneously.",
+    "Use separate arms to lift the plastic bottle and the smooth orange bottle.",
+    "Catch the plastic bottle and the plastic bottle together.",
+    "Lift the white cylindrical bottle and the curved orange soda bottle in one synchronized motion.",
+    "Grasp the bottle with tapering neck as the other arm grasps the cylindrical orange plastic bottle.",
+    "Grab both bottles in parallel, the handheld white bottle with cap and the plastic bottle.",
+    "Pick up the bottle with tapering neck and the smooth orange bottle simultaneously.",
+    "Pick the white bottle with red text and the smooth orange bottle up in parallel.",
+    "Each arm should grab one bottle: the white bottle for liquids and the light and medium-sized bottle.",
+    "Raise the bottle with tapering neck with one arm and the light and medium-sized bottle with the other.",
+    "Hold the white bottle with orange lid in one arm and the bottle for holding drinks in the other.",
+    "Secure both the smooth bottle and the ridged orange bottle with grooves simultaneously.",
+    "Simultaneously grasp and lift the white bottle with orange lid and the curved orange soda bottle.",
+    "Reach for the white cylindrical bottle and the plastic bottle with both arms at once.",
+    "Pick up both the bottle with tapering neck and the orange bottle using separate arms.",
+    "Lift both different bottles, the white bottle for liquids and the round-bottom bottle with white cap, together.",
+    "Use one arm for the medium-sized bottle and the other for the ridged orange bottle with grooves.",
+    "Raise the white bottle and the cylindrical orange plastic bottle at the same time.",
+    "Use each arm to secure one of the white cylindrical bottle and the smooth orange bottle.",
+    "Take the white bottle and the curved orange soda bottle together, one per arm.",
+    "Assign one arm to the smooth bottle and one to the curved orange soda bottle.",
+    "Grab the white bottle with red text and the cylindrical orange plastic bottle at the same time.",
+    "Pick the plastic bottle while the other arm picks the bottle for holding drinks.",
+    "Lift the white bottle with red text and the smooth orange bottle together with both arms.",
+    "Raise both bottles at once: the white cylindrical bottle and the light and medium-sized bottle.",
+    "Use both arms simultaneously for the smooth bottle and the plastic bottle.",
+    "Use both arms to grasp the handheld white bottle with cap and the orange bottle together.",
+    "Hold both the white bottle with red text and the smooth orange bottle, one in each arm.",
+    "Pick up the pair the medium-sized bottle and the grooved orange drink bottle together.",
+    "Take hold of the white bottle with orange lid and the curved orange soda bottle at once.",
+    "Grasp the different bottles the bottle with orange screw cap and the orange bottle simultaneously.",
+    "Use separate arms to lift the white bottle with red text and the round-bottom bottle with white cap.",
+    "Catch the bottle with orange screw cap and the cylindrical orange plastic bottle together.",
+    "Lift the handheld white bottle with cap and the round-bottom bottle with white cap in one synchronized motion.",
+    "Grasp the white cylindrical bottle as the other arm grasps the light and medium-sized bottle.",
+    "Grab both bottles in parallel, the handheld white bottle with cap and the round-bottom bottle with white cap.",
+    "Pick up the smooth bottle and the ridged orange bottle with grooves simultaneously.",
+    "Pick the white cylindrical bottle and the bottle for holding drinks up in parallel.",
+    "Each arm should grab one bottle: the medium-sized bottle and the orange drink bottle with label.",
+    "Raise the white bottle for liquids with one arm and the smooth orange bottle with the other.",
+    "Hold the smooth bottle in one arm and the medium bottle with colorful label in the other.",
+    "Secure both the medium-sized bottle and the round-bottom bottle with white cap simultaneously.",
+    "Simultaneously grasp and lift the smooth bottle and the orange drink bottle with label.",
+    "Reach for the white bottle and the smooth orange bottle with both arms at once.",
+    "Pick up both the bottle with orange screw cap and the orange drink bottle with label using separate arms.",
+    "Lift both different bottles, the white bottle with orange lid and the round-bottom bottle with white cap, together.",
+    "Use one arm for the bottle with tapering neck and the other for the orange drink bottle with label.",
+    "Raise the white bottle with orange lid and the grooved orange drink bottle at the same time.",
+    "Use each arm to secure one of the white cylindrical bottle and the grooved orange drink bottle.",
+    "Take the white bottle with red text and the orange drink bottle with label together, one per arm.",
+    "Assign one arm to the smooth bottle and one to the orange drink bottle with label.",
+    "Grab the cylindrical bottle with red writing and the curved orange soda bottle at the same time.",
+    "Pick the medium-sized bottle while the other arm picks the orange bottle.",
+    "Lift the plastic bottle and the cylindrical orange plastic bottle together with both arms.",
+    "Raise both bottles at once: the white bottle and the ridged orange bottle with grooves.",
+    "Use both arms simultaneously for the white cylindrical bottle and the cylindrical orange plastic bottle.",
+    "Use both arms to grasp the white bottle for liquids and the orange drink bottle with label together.",
+    "Hold both the white bottle with orange lid and the light and medium-sized bottle, one in each arm.",
+    "Pick up the pair the white cylindrical bottle and the plastic bottle together.",
+    "Take hold of the medium-sized bottle and the medium bottle with colorful label at once.",
+    "Grasp the different bottles the bottle with tapering neck and the medium bottle with colorful label simultaneously.",
+    "Use separate arms to lift the white bottle for liquids and the smooth orange bottle.",
+    "Catch the smooth bottle and the round-bottom bottle with white cap together.",
+    "Lift the bottle with tapering neck and the smooth orange bottle in one synchronized motion.",
+    "Grasp the white bottle with orange lid as the other arm grasps the cylindrical orange plastic bottle.",
+    "Grab both bottles in parallel, the handheld white bottle with cap and the ridged orange bottle with grooves.",
+    "Pick up the medium-sized bottle and the ridged orange bottle with grooves simultaneously.",
+    "Pick the white bottle for liquids and the ridged orange bottle with grooves up in parallel.",
+    "Each arm should grab one bottle: the white bottle with orange lid and the orange bottle.",
+    "Raise the white bottle with orange lid with one arm and the orange bottle with the other.",
+    "Hold the white cylindrical bottle in one arm and the plastic bottle in the other.",
+    "Secure both the plastic bottle and the light and medium-sized bottle simultaneously.",
+    "Simultaneously grasp and lift the bottle with orange screw cap and the orange bottle.",
+    "Reach for the white bottle with red text and the light and medium-sized bottle with both arms at once.",
+    "Pick up both the white bottle with red text and the bottle for holding drinks using separate arms.",
+    "Lift both different bottles, the white bottle for liquids and the plastic bottle, together.",
+    "Use one arm for the white bottle with orange lid and the other for the bottle for holding drinks.",
+    "Raise the white bottle with red text and the light and medium-sized bottle at the same time.",
+    "Use each arm to secure one of the handheld white bottle with cap and the medium bottle with colorful label.",
+    "Take the handheld white bottle with cap and the ridged orange bottle with grooves together, one per arm.",
+    "Assign one arm to the white bottle and one to the grooved orange drink bottle.",
+    "Grab the white bottle with red text and the bottle for holding drinks at the same time.",
+    "Pick the cylindrical bottle with red writing while the other arm picks the medium bottle with colorful label.",
+    "Lift the smooth bottle and the cylindrical orange plastic bottle together with both arms.",
+    "Raise both bottles at once: the white cylindrical bottle and the orange drink bottle with label.",
+    "Use both arms simultaneously for the white bottle with orange lid and the medium bottle with colorful label."
+  ],
+  "unseen": [
+    "Take hold of the plastic bottle with printed label and the bottle with ridged orange grip at once.",
+    "Pick up both the bottle with glossy surface and the bottle with white cap together.",
+    "Grab the bottle with glossy surface and the bottle with ridged orange grip at the same time.",
+    "Lift the plastic bottle with printed label as the other arm lifts the bottle with white cap.",
+    "Use each arm to grab one of the bottle with glossy surface and the bottle with white cap.",
+    "Raise both different bottles, the bottle with orange cap and the bottle with white cap, together.",
+    "Pick up the plastic bottle with printed label and the bottle with white cap in parallel.",
+    "Grasp the plastic bottle with printed label and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with orange cap and the bottle with white cap simultaneously with separate arms.",
+    "Use one arm for the plastic bottle with printed label and the other for the bottle with ridged orange grip.",
+    "Take hold of the bottle with glossy surface and the bottle with white cap at once.",
+    "Pick up both the plastic bottle with printed label and the bottle with ridged orange grip together.",
+    "Grab the plastic bottle with printed label and the white capped orange plastic bottle at the same time.",
+    "Lift the plastic bottle with printed label as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the bottle with glossy surface and the white capped orange plastic bottle.",
+    "Raise both different bottles, the bottle with orange cap and the white capped orange plastic bottle, together.",
+    "Pick up the bottle with glossy surface and the bottle with ridged orange grip in parallel.",
+    "Grasp the bottle with glossy surface and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with glossy surface and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Use one arm for the plastic bottle with printed label and the other for the white capped orange plastic bottle.",
+    "Take hold of the bottle with orange cap and the bottle with white cap at once.",
+    "Pick up both the plastic bottle with printed label and the bottle with white cap together.",
+    "Grab the bottle with glossy surface and the bottle with white cap at the same time.",
+    "Lift the bottle with orange cap as the other arm lifts the bottle with ridged orange grip.",
+    "Use each arm to grab one of the bottle with orange cap and the bottle with white cap.",
+    "Raise both different bottles, the bottle with orange cap and the white capped orange plastic bottle, together.",
+    "Pick up the bottle with orange cap and the bottle with ridged orange grip in parallel.",
+    "Grasp the bottle with orange cap and the bottle with white cap simultaneously.",
+    "Lift the bottle with orange cap and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Use one arm for the plastic bottle with printed label and the other for the bottle with ridged orange grip.",
+    "Take hold of the bottle with glossy surface and the white capped orange plastic bottle at once.",
+    "Pick up both the bottle with glossy surface and the bottle with white cap together.",
+    "Grab the bottle with orange cap and the white capped orange plastic bottle at the same time.",
+    "Lift the plastic bottle with printed label as the other arm lifts the bottle with white cap.",
+    "Use each arm to grab one of the plastic bottle with printed label and the bottle with white cap.",
+    "Raise both different bottles, the bottle with orange cap and the bottle with ridged orange grip, together.",
+    "Pick up the bottle with glossy surface and the bottle with white cap in parallel.",
+    "Grasp the bottle with orange cap and the bottle with white cap simultaneously.",
+    "Lift the bottle with glossy surface and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Use one arm for the bottle with orange cap and the other for the white capped orange plastic bottle.",
+    "Take hold of the plastic bottle with printed label and the bottle with ridged orange grip at once.",
+    "Pick up both the bottle with orange cap and the bottle with white cap together.",
+    "Grab the bottle with glossy surface and the bottle with white cap at the same time.",
+    "Lift the bottle with glossy surface as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the plastic bottle with printed label and the white capped orange plastic bottle.",
+    "Raise both different bottles, the plastic bottle with printed label and the white capped orange plastic bottle, together.",
+    "Pick up the bottle with glossy surface and the bottle with ridged orange grip in parallel.",
+    "Grasp the plastic bottle with printed label and the bottle with white cap simultaneously.",
+    "Lift the bottle with glossy surface and the bottle with white cap simultaneously with separate arms.",
+    "Use one arm for the bottle with orange cap and the other for the white capped orange plastic bottle.",
+    "Take hold of the bottle with orange cap and the bottle with white cap at once.",
+    "Pick up both the plastic bottle with printed label and the white capped orange plastic bottle together.",
+    "Grab the bottle with orange cap and the bottle with ridged orange grip at the same time.",
+    "Lift the plastic bottle with printed label as the other arm lifts the bottle with white cap.",
+    "Use each arm to grab one of the bottle with glossy surface and the white capped orange plastic bottle.",
+    "Raise both different bottles, the bottle with glossy surface and the bottle with white cap, together.",
+    "Pick up the bottle with orange cap and the bottle with ridged orange grip in parallel.",
+    "Grasp the plastic bottle with printed label and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with orange cap and the bottle with white cap simultaneously with separate arms.",
+    "Use one arm for the bottle with orange cap and the other for the bottle with white cap.",
+    "Take hold of the bottle with orange cap and the white capped orange plastic bottle at once.",
+    "Pick up both the bottle with orange cap and the bottle with ridged orange grip together.",
+    "Grab the plastic bottle with printed label and the white capped orange plastic bottle at the same time.",
+    "Lift the plastic bottle with printed label as the other arm lifts the bottle with ridged orange grip.",
+    "Use each arm to grab one of the plastic bottle with printed label and the bottle with white cap.",
+    "Raise both different bottles, the bottle with glossy surface and the bottle with white cap, together.",
+    "Pick up the plastic bottle with printed label and the white capped orange plastic bottle in parallel.",
+    "Grasp the bottle with glossy surface and the white capped orange plastic bottle simultaneously.",
+    "Lift the bottle with glossy surface and the bottle with white cap simultaneously with separate arms.",
+    "Use one arm for the bottle with glossy surface and the other for the bottle with ridged orange grip.",
+    "Take hold of the bottle with glossy surface and the bottle with white cap at once.",
+    "Pick up both the bottle with glossy surface and the white capped orange plastic bottle together.",
+    "Grab the bottle with orange cap and the white capped orange plastic bottle at the same time.",
+    "Lift the bottle with glossy surface as the other arm lifts the bottle with white cap.",
+    "Use each arm to grab one of the bottle with orange cap and the bottle with white cap.",
+    "Raise both different bottles, the bottle with orange cap and the bottle with white cap, together.",
+    "Pick up the bottle with glossy surface and the bottle with white cap in parallel.",
+    "Grasp the plastic bottle with printed label and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with glossy surface and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Use one arm for the plastic bottle with printed label and the other for the bottle with white cap.",
+    "Take hold of the bottle with glossy surface and the white capped orange plastic bottle at once.",
+    "Pick up both the plastic bottle with printed label and the bottle with white cap together.",
+    "Grab the plastic bottle with printed label and the bottle with ridged orange grip at the same time.",
+    "Lift the bottle with glossy surface as the other arm lifts the white capped orange plastic bottle.",
+    "Use each arm to grab one of the bottle with orange cap and the white capped orange plastic bottle.",
+    "Raise both different bottles, the bottle with orange cap and the bottle with white cap, together.",
+    "Pick up the bottle with orange cap and the white capped orange plastic bottle in parallel.",
+    "Grasp the plastic bottle with printed label and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with orange cap and the bottle with white cap simultaneously with separate arms.",
+    "Use one arm for the plastic bottle with printed label and the other for the bottle with ridged orange grip.",
+    "Take hold of the plastic bottle with printed label and the bottle with white cap at once.",
+    "Pick up both the bottle with orange cap and the white capped orange plastic bottle together.",
+    "Grab the bottle with orange cap and the bottle with white cap at the same time.",
+    "Lift the bottle with glossy surface as the other arm lifts the bottle with white cap.",
+    "Use each arm to grab one of the plastic bottle with printed label and the white capped orange plastic bottle.",
+    "Raise both different bottles, the plastic bottle with printed label and the bottle with ridged orange grip, together.",
+    "Pick up the plastic bottle with printed label and the white capped orange plastic bottle in parallel.",
+    "Grasp the plastic bottle with printed label and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with orange cap and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Use one arm for the bottle with orange cap and the other for the white capped orange plastic bottle."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000029.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..f64ce0fc3daa3bb3c65b9fae775917cbb87d6583
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000029.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the different bottles the medium green bottle and the rounded bottom orange plastic bottle simultaneously.",
+    "Use each arm to secure one of the green bottle with indented base and the cylindrical orange bottle with smooth surface.",
+    "Assign one arm to the bottle with white printed label and one to the rounded orange bottle with yellow top.",
+    "Pick up the pair the medium green bottle with capped neck and the orange bottle together.",
+    "Catch the plastic bottle and the small bottle with bright yellow lid together.",
+    "Take the medium green bottle with capped neck and the liquid container with orange body together, one per arm.",
+    "Raise both bottles at once: the bottle with narrow top and the rounded bottom orange plastic bottle.",
+    "Grab the smooth green bottle and the rounded orange bottle with yellow top at the same time.",
+    "Reach for the bottle with white printed label and the orange bottle with both arms at once.",
+    "Pick up both the smooth green plastic bottle and the yellow-capped bottle for beverages using separate arms.",
+    "Use both arms to grasp the medium green bottle and the orange bottle with bold labeling together.",
+    "Pick up the medium-sized green bottle and the yellow-capped orange plastic bottle simultaneously.",
+    "Hold the medium green bottle in one arm and the bottle with yellow cap in the other.",
+    "Secure both the smooth green bottle and the rounded bottom orange plastic bottle simultaneously.",
+    "Grasp the green bottle with indented base as the other arm grasps the yellow-capped bottle for beverages.",
+    "Raise the medium green bottle with capped neck and the yellow-capped bottle for beverages at the same time.",
+    "Use both arms simultaneously for the green bottle with indented base and the orange bottle with bold labeling.",
+    "Use separate arms to lift the handheld green bottle and the liquid container with orange body.",
+    "Simultaneously grasp and lift the smooth green plastic bottle and the smooth orange cylindrical bottle.",
+    "Lift the medium green bottle with capped neck and the orange bottle together with both arms.",
+    "Pick the bottle with rounded neck while the other arm picks the rounded bottom orange plastic bottle.",
+    "Hold both the bottle with rounded neck and the yellow-capped orange plastic bottle, one in each arm.",
+    "Take hold of the medium green bottle and the rounded bottom orange plastic bottle at once.",
+    "Lift the bottle with rounded neck and the yellow-capped orange plastic bottle in one synchronized motion.",
+    "Grab both bottles in parallel, the handheld green bottle and the yellow-capped orange plastic bottle.",
+    "Use one arm for the bottle with narrow top and the other for the yellow-capped orange plastic bottle.",
+    "Each arm should grab one bottle: the smooth green plastic bottle and the small bottle with bright yellow lid.",
+    "Pick the medium green bottle with capped neck and the liquid container with orange body up in parallel.",
+    "Lift both different bottles, the bottle with rounded neck and the rounded orange bottle with yellow top, together.",
+    "Raise the medium green bottle with capped neck with one arm and the yellow-capped bottle for beverages with the other.",
+    "Grasp the different bottles the plastic bottle and the liquid container with orange body simultaneously.",
+    "Use each arm to secure one of the bottle with white printed label and the cylindrical orange bottle with smooth surface.",
+    "Assign one arm to the plastic bottle and one to the rounded orange bottle with yellow top.",
+    "Pick up the pair the smooth green bottle and the small bottle with bright yellow lid together.",
+    "Catch the medium green bottle and the rounded orange bottle with yellow top together.",
+    "Take the bottle with narrow top and the orange bottle with bold labeling together, one per arm.",
+    "Raise both bottles at once: the bottle with white printed label and the yellow-capped orange plastic bottle.",
+    "Grab the bottle with narrow top and the orange bottle with bold labeling at the same time.",
+    "Reach for the green bottle with indented base and the rounded bottom orange plastic bottle with both arms at once.",
+    "Pick up both the medium green bottle and the cylindrical orange bottle with smooth surface using separate arms.",
+    "Use both arms to grasp the medium green bottle with capped neck and the yellow-capped orange plastic bottle together.",
+    "Pick up the handheld green bottle and the bottle with yellow cap simultaneously.",
+    "Hold the medium green bottle with capped neck in one arm and the liquid container with orange body in the other.",
+    "Secure both the bottle with ridges near base and the small bottle with bright yellow lid simultaneously.",
+    "Grasp the bottle with ridges near base as the other arm grasps the handheld medium-sized liquid bottle.",
+    "Raise the handheld green bottle and the handheld medium-sized liquid bottle at the same time.",
+    "Use both arms simultaneously for the smooth green plastic bottle and the liquid container with orange body.",
+    "Use separate arms to lift the bottle with white printed label and the yellow-capped orange plastic bottle.",
+    "Simultaneously grasp and lift the medium green bottle with capped neck and the rounded orange bottle with yellow top.",
+    "Lift the medium-sized green bottle and the liquid container with orange body together with both arms.",
+    "Pick the green bottle with indented base while the other arm picks the handheld medium-sized liquid bottle.",
+    "Hold both the plastic bottle and the orange bottle, one in each arm.",
+    "Take hold of the bottle with narrow top and the rounded bottom orange plastic bottle at once.",
+    "Lift the green bottle with indented base and the liquid container with orange body in one synchronized motion.",
+    "Grab both bottles in parallel, the bottle with white printed label and the small bottle with bright yellow lid.",
+    "Use one arm for the bottle with ridges near base and the other for the handheld medium-sized liquid bottle.",
+    "Each arm should grab one bottle: the medium green bottle and the small bottle with bright yellow lid.",
+    "Pick the bottle with white printed label and the yellow-capped bottle for beverages up in parallel.",
+    "Lift both different bottles, the plastic bottle and the cylindrical orange bottle with smooth surface, together.",
+    "Raise the medium-sized green bottle with one arm and the yellow-capped bottle for beverages with the other.",
+    "Grasp the different bottles the medium green bottle with capped neck and the smooth orange cylindrical bottle simultaneously.",
+    "Use each arm to secure one of the handheld green bottle and the yellow-capped bottle for beverages.",
+    "Assign one arm to the bottle with white printed label and one to the orange bottle.",
+    "Pick up the pair the medium green bottle with capped neck and the liquid container with orange body together.",
+    "Catch the smooth green bottle and the yellow-capped bottle for beverages together.",
+    "Take the smooth green plastic bottle and the orange bottle together, one per arm.",
+    "Raise both bottles at once: the smooth green plastic bottle and the yellow-capped orange plastic bottle.",
+    "Grab the medium green bottle and the cylindrical orange bottle with smooth surface at the same time.",
+    "Reach for the medium green bottle and the smooth orange cylindrical bottle with both arms at once.",
+    "Pick up both the medium green bottle and the rounded orange bottle with yellow top using separate arms.",
+    "Use both arms to grasp the plastic bottle and the handheld medium-sized liquid bottle together.",
+    "Pick up the medium green bottle and the bottle with yellow cap simultaneously.",
+    "Hold the medium green bottle with capped neck in one arm and the rounded orange bottle with yellow top in the other.",
+    "Secure both the bottle with ridges near base and the bottle with yellow cap simultaneously.",
+    "Grasp the smooth green bottle as the other arm grasps the handheld medium-sized liquid bottle.",
+    "Raise the handheld green bottle and the liquid container with orange body at the same time.",
+    "Use both arms simultaneously for the smooth green plastic bottle and the liquid container with orange body.",
+    "Use separate arms to lift the bottle with white printed label and the bottle with yellow cap.",
+    "Simultaneously grasp and lift the medium green bottle and the orange bottle.",
+    "Lift the bottle with white printed label and the yellow-capped bottle for beverages together with both arms.",
+    "Pick the medium green bottle with capped neck while the other arm picks the bottle with yellow cap.",
+    "Hold both the smooth green plastic bottle and the rounded orange bottle with yellow top, one in each arm.",
+    "Take hold of the bottle with narrow top and the smooth orange cylindrical bottle at once.",
+    "Lift the smooth green plastic bottle and the rounded orange bottle with yellow top in one synchronized motion.",
+    "Grab both bottles in parallel, the smooth green plastic bottle and the rounded bottom orange plastic bottle.",
+    "Use one arm for the medium green bottle and the other for the smooth orange cylindrical bottle.",
+    "Each arm should grab one bottle: the medium-sized green bottle and the cylindrical orange bottle with smooth surface.",
+    "Pick the bottle with ridges near base and the small bottle with bright yellow lid up in parallel.",
+    "Lift both different bottles, the bottle with ridges near base and the rounded bottom orange plastic bottle, together.",
+    "Raise the medium-sized green bottle with one arm and the yellow-capped orange plastic bottle with the other.",
+    "Grasp the different bottles the bottle with white printed label and the bottle with yellow cap simultaneously.",
+    "Use each arm to secure one of the green bottle with indented base and the small bottle with bright yellow lid.",
+    "Assign one arm to the plastic bottle and one to the orange bottle.",
+    "Pick up the pair the bottle with ridges near base and the smooth orange cylindrical bottle together.",
+    "Catch the bottle with rounded neck and the yellow-capped bottle for beverages together.",
+    "Take the green bottle with indented base and the liquid container with orange body together, one per arm.",
+    "Raise both bottles at once: the plastic bottle and the bottle with yellow cap.",
+    "Grab the bottle with white printed label and the bottle with yellow cap at the same time.",
+    "Reach for the handheld green bottle and the yellow-capped bottle for beverages with both arms at once.",
+    "Pick up both the medium-sized green bottle and the bottle with yellow cap using separate arms."
+  ],
+  "unseen": [
+    "Pick up the green bottle and the medium bottle for liquids in parallel.",
+    "Lift the green bottle with white label and the medium bottle for liquids simultaneously with separate arms.",
+    "Grasp the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the green plastic bottle with ridged bottom and the other for the medium bottle for liquids.",
+    "Lift the green bottle with white label as the other arm lifts the medium plastic bottle.",
+    "Take hold of the green plastic bottle with ridged bottom and the medium plastic bottle at once.",
+    "Pick up both the green bottle and the medium bottle for liquids together.",
+    "Grab the green bottle and the medium plastic bottle at the same time.",
+    "Raise both different bottles, the green bottle and the plastic orange bottle with rounded base, together.",
+    "Use each arm to grab one of the green bottle and the medium plastic bottle.",
+    "Pick up the green bottle with white label and the plastic orange bottle with rounded base in parallel.",
+    "Lift the green bottle with white label and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Grasp the green plastic bottle with ridged bottom and the medium plastic bottle simultaneously.",
+    "Use one arm for the green bottle with white label and the other for the medium plastic bottle.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the medium plastic bottle.",
+    "Take hold of the green bottle and the plastic orange bottle with rounded base at once.",
+    "Pick up both the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base together.",
+    "Grab the green bottle and the medium bottle for liquids at the same time.",
+    "Raise both different bottles, the green bottle and the plastic orange bottle with rounded base, together.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base.",
+    "Pick up the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base in parallel.",
+    "Lift the green bottle with white label and the medium bottle for liquids simultaneously with separate arms.",
+    "Grasp the green plastic bottle with ridged bottom and the medium plastic bottle simultaneously.",
+    "Use one arm for the green bottle with white label and the other for the medium plastic bottle.",
+    "Lift the green bottle with white label as the other arm lifts the medium bottle for liquids.",
+    "Take hold of the green bottle with white label and the medium bottle for liquids at once.",
+    "Pick up both the green bottle and the medium plastic bottle together.",
+    "Grab the green bottle and the medium plastic bottle at the same time.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base, together.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the medium plastic bottle.",
+    "Pick up the green bottle and the medium bottle for liquids in parallel.",
+    "Lift the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Grasp the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the green bottle and the other for the medium plastic bottle.",
+    "Lift the green bottle with white label as the other arm lifts the plastic orange bottle with rounded base.",
+    "Take hold of the green plastic bottle with ridged bottom and the medium plastic bottle at once.",
+    "Pick up both the green plastic bottle with ridged bottom and the medium plastic bottle together.",
+    "Grab the green plastic bottle with ridged bottom and the medium bottle for liquids at the same time.",
+    "Raise both different bottles, the green bottle and the medium plastic bottle, together.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the medium plastic bottle.",
+    "Pick up the green plastic bottle with ridged bottom and the medium plastic bottle in parallel.",
+    "Lift the green bottle with white label and the medium bottle for liquids simultaneously with separate arms.",
+    "Grasp the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the green bottle with white label and the other for the medium bottle for liquids.",
+    "Lift the green bottle with white label as the other arm lifts the medium bottle for liquids.",
+    "Take hold of the green bottle with white label and the medium bottle for liquids at once.",
+    "Pick up both the green bottle and the plastic orange bottle with rounded base together.",
+    "Grab the green bottle and the medium plastic bottle at the same time.",
+    "Raise both different bottles, the green bottle and the plastic orange bottle with rounded base, together.",
+    "Use each arm to grab one of the green bottle with white label and the medium bottle for liquids.",
+    "Pick up the green bottle and the medium bottle for liquids in parallel.",
+    "Lift the green plastic bottle with ridged bottom and the medium plastic bottle simultaneously with separate arms.",
+    "Grasp the green plastic bottle with ridged bottom and the medium plastic bottle simultaneously.",
+    "Use one arm for the green bottle and the other for the medium bottle for liquids.",
+    "Lift the green bottle with white label as the other arm lifts the plastic orange bottle with rounded base.",
+    "Take hold of the green bottle with white label and the medium plastic bottle at once.",
+    "Pick up both the green bottle with white label and the medium plastic bottle together.",
+    "Grab the green plastic bottle with ridged bottom and the medium bottle for liquids at the same time.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base, together.",
+    "Use each arm to grab one of the green bottle and the medium bottle for liquids.",
+    "Pick up the green bottle with white label and the medium plastic bottle in parallel.",
+    "Lift the green bottle and the medium bottle for liquids simultaneously with separate arms.",
+    "Grasp the green bottle and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the green bottle and the other for the plastic orange bottle with rounded base.",
+    "Lift the green bottle with white label as the other arm lifts the plastic orange bottle with rounded base.",
+    "Take hold of the green bottle and the medium plastic bottle at once.",
+    "Pick up both the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base together.",
+    "Grab the green bottle with white label and the plastic orange bottle with rounded base at the same time.",
+    "Raise both different bottles, the green bottle with white label and the medium plastic bottle, together.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the medium plastic bottle.",
+    "Pick up the green bottle and the medium bottle for liquids in parallel.",
+    "Lift the green bottle and the medium bottle for liquids simultaneously with separate arms.",
+    "Grasp the green bottle with white label and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the green bottle and the other for the medium plastic bottle.",
+    "Lift the green bottle with white label as the other arm lifts the medium plastic bottle.",
+    "Take hold of the green plastic bottle with ridged bottom and the medium plastic bottle at once.",
+    "Pick up both the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base together.",
+    "Grab the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base at the same time.",
+    "Raise both different bottles, the green bottle and the medium plastic bottle, together.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the medium plastic bottle.",
+    "Pick up the green bottle with white label and the plastic orange bottle with rounded base in parallel.",
+    "Lift the green bottle and the medium plastic bottle simultaneously with separate arms.",
+    "Grasp the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the green bottle and the other for the medium plastic bottle.",
+    "Lift the green bottle with white label as the other arm lifts the plastic orange bottle with rounded base.",
+    "Take hold of the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base at once.",
+    "Pick up both the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base together.",
+    "Grab the green plastic bottle with ridged bottom and the medium plastic bottle at the same time.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the medium bottle for liquids, together.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base.",
+    "Pick up the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base in parallel.",
+    "Lift the green plastic bottle with ridged bottom and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Grasp the green bottle and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the green plastic bottle with ridged bottom and the other for the plastic orange bottle with rounded base.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the medium plastic bottle.",
+    "Take hold of the green bottle with white label and the plastic orange bottle with rounded base at once.",
+    "Pick up both the green plastic bottle with ridged bottom and the medium plastic bottle together.",
+    "Grab the green bottle with white label and the plastic orange bottle with rounded base at the same time.",
+    "Raise both different bottles, the green bottle with white label and the plastic orange bottle with rounded base, together.",
+    "Use each arm to grab one of the green bottle with white label and the medium bottle for liquids."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000030.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd0a7cf1db34c180967d66e71e4d1f0755a6d2d0
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000030.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Assign one arm to the bottle with narrow top and one to the white-capped bottle.",
+    "Grasp the handheld green bottle as the other arm grasps the bottle with black label.",
+    "Lift the bottle with ridges near base and the bottle with black label in one synchronized motion.",
+    "Each arm should grab one bottle: the medium green bottle and the brown bottle.",
+    "Pick the bottle with narrow top and the white-capped bottle up in parallel.",
+    "Lift both different bottles, the bottle with ridges near base and the curved bottle with white top, together.",
+    "Catch the green bottle with indented base and the white-capped bottle together.",
+    "Use each arm to secure one of the plastic bottle and the plastic bottle.",
+    "Lift the medium green bottle and the curved bottle with white top together with both arms.",
+    "Raise the medium green bottle with capped neck with one arm and the bottle with brown and white patterns with the other.",
+    "Pick the medium green bottle with capped neck while the other arm picks the bottle with black label.",
+    "Hold the bottle with ridges near base in one arm and the bottle with white screw cap in the other.",
+    "Use separate arms to lift the medium green bottle with capped neck and the smooth brown and white patterned bottle.",
+    "Reach for the handheld green bottle and the bottle with brown and white patterns with both arms at once.",
+    "Grasp the different bottles the medium-sized green bottle and the brown bottle simultaneously.",
+    "Raise the handheld green bottle and the small bottle with decorative design at the same time.",
+    "Use one arm for the plastic bottle and the other for the hand-sized plastic bottle.",
+    "Grab both bottles in parallel, the bottle with ridges near base and the plastic bottle.",
+    "Pick up the pair the bottle with ridges near base and the smooth brown and white patterned bottle together.",
+    "Raise both bottles at once: the bottle with narrow top and the brown bottle.",
+    "Secure both the bottle with rounded neck and the white-capped bottle simultaneously.",
+    "Simultaneously grasp and lift the plastic bottle and the bottle holding liquid.",
+    "Take hold of the smooth green bottle and the brown bottle at once.",
+    "Grab the smooth green bottle and the plastic bottle at the same time.",
+    "Take the bottle with narrow top and the white-capped bottle together, one per arm.",
+    "Hold both the smooth green plastic bottle and the small curved plastic bottle, one in each arm.",
+    "Pick up both the smooth green bottle and the bottle with brown and white patterns using separate arms.",
+    "Pick up the green bottle with indented base and the brown bottle simultaneously.",
+    "Use both arms to grasp the medium green bottle with capped neck and the bottle with black label together.",
+    "Use both arms simultaneously for the bottle with white printed label and the bottle holding liquid.",
+    "Assign one arm to the green bottle with indented base and one to the bottle with brown and white patterns.",
+    "Grasp the handheld green bottle as the other arm grasps the curved bottle with white top.",
+    "Lift the medium-sized green bottle and the bottle with white screw cap in one synchronized motion.",
+    "Each arm should grab one bottle: the handheld green bottle and the bottle with brown and white patterns.",
+    "Pick the medium-sized green bottle and the bottle with black label up in parallel.",
+    "Lift both different bottles, the bottle with white printed label and the bottle holding liquid, together.",
+    "Catch the bottle with white printed label and the small curved plastic bottle together.",
+    "Use each arm to secure one of the green bottle with indented base and the hand-sized plastic bottle.",
+    "Lift the medium green bottle with capped neck and the bottle holding liquid together with both arms.",
+    "Raise the bottle with white printed label with one arm and the bottle with white screw cap with the other.",
+    "Pick the green bottle with indented base while the other arm picks the plastic bottle.",
+    "Hold the smooth green bottle in one arm and the small bottle with decorative design in the other.",
+    "Use separate arms to lift the smooth green plastic bottle and the brown bottle.",
+    "Reach for the green bottle with indented base and the curved bottle with white top with both arms at once.",
+    "Grasp the different bottles the green bottle with indented base and the brown bottle simultaneously.",
+    "Raise the smooth green bottle and the bottle with white screw cap at the same time.",
+    "Use one arm for the medium green bottle and the other for the curved bottle with white top.",
+    "Grab both bottles in parallel, the bottle with white printed label and the smooth brown and white patterned bottle.",
+    "Pick up the pair the bottle with ridges near base and the bottle with black label together.",
+    "Raise both bottles at once: the bottle with rounded neck and the curved bottle with white top.",
+    "Secure both the medium-sized green bottle and the brown bottle simultaneously.",
+    "Simultaneously grasp and lift the bottle with ridges near base and the smooth brown and white patterned bottle.",
+    "Take hold of the plastic bottle and the small curved plastic bottle at once.",
+    "Grab the medium green bottle with capped neck and the bottle with brown and white patterns at the same time.",
+    "Take the bottle with rounded neck and the curved bottle with white top together, one per arm.",
+    "Hold both the bottle with white printed label and the small bottle with decorative design, one in each arm.",
+    "Pick up both the green bottle with indented base and the hand-sized plastic bottle using separate arms.",
+    "Pick up the medium green bottle with capped neck and the curved bottle with white top simultaneously.",
+    "Use both arms to grasp the medium green bottle with capped neck and the hand-sized plastic bottle together.",
+    "Use both arms simultaneously for the smooth green plastic bottle and the smooth brown and white patterned bottle.",
+    "Assign one arm to the smooth green bottle and one to the bottle with black label.",
+    "Grasp the bottle with ridges near base as the other arm grasps the bottle with black label.",
+    "Lift the bottle with narrow top and the bottle with brown and white patterns in one synchronized motion.",
+    "Each arm should grab one bottle: the smooth green plastic bottle and the brown bottle.",
+    "Pick the handheld green bottle and the bottle with brown and white patterns up in parallel.",
+    "Lift both different bottles, the bottle with narrow top and the small curved plastic bottle, together.",
+    "Catch the medium-sized green bottle and the curved bottle with white top together.",
+    "Use each arm to secure one of the smooth green bottle and the brown bottle.",
+    "Lift the bottle with narrow top and the bottle holding liquid together with both arms.",
+    "Raise the bottle with ridges near base with one arm and the plastic bottle with the other.",
+    "Pick the smooth green plastic bottle while the other arm picks the small bottle with decorative design.",
+    "Hold the medium green bottle with capped neck in one arm and the bottle holding liquid in the other.",
+    "Use separate arms to lift the handheld green bottle and the plastic bottle.",
+    "Reach for the smooth green bottle and the white-capped bottle with both arms at once.",
+    "Grasp the different bottles the plastic bottle and the curved bottle with white top simultaneously.",
+    "Raise the plastic bottle and the bottle with white screw cap at the same time.",
+    "Use one arm for the green bottle with indented base and the other for the hand-sized plastic bottle.",
+    "Grab both bottles in parallel, the plastic bottle and the plastic bottle.",
+    "Pick up the pair the bottle with ridges near base and the small bottle with decorative design together.",
+    "Raise both bottles at once: the green bottle with indented base and the white-capped bottle.",
+    "Secure both the bottle with white printed label and the bottle with white screw cap simultaneously.",
+    "Simultaneously grasp and lift the green bottle with indented base and the plastic bottle.",
+    "Take hold of the smooth green bottle and the small curved plastic bottle at once.",
+    "Grab the smooth green plastic bottle and the smooth brown and white patterned bottle at the same time.",
+    "Take the medium-sized green bottle and the plastic bottle together, one per arm.",
+    "Hold both the medium green bottle with capped neck and the plastic bottle, one in each arm.",
+    "Pick up both the medium green bottle with capped neck and the hand-sized plastic bottle using separate arms.",
+    "Pick up the smooth green plastic bottle and the white-capped bottle simultaneously.",
+    "Use both arms to grasp the medium green bottle with capped neck and the hand-sized plastic bottle together.",
+    "Use both arms simultaneously for the medium green bottle and the plastic bottle.",
+    "Assign one arm to the plastic bottle and one to the small bottle with decorative design.",
+    "Grasp the smooth green plastic bottle as the other arm grasps the hand-sized plastic bottle.",
+    "Lift the medium green bottle and the smooth brown and white patterned bottle in one synchronized motion.",
+    "Each arm should grab one bottle: the plastic bottle and the bottle with black label.",
+    "Pick the smooth green plastic bottle and the brown bottle up in parallel.",
+    "Lift both different bottles, the smooth green bottle and the bottle holding liquid, together.",
+    "Catch the handheld green bottle and the bottle with brown and white patterns together.",
+    "Use each arm to secure one of the bottle with rounded neck and the smooth brown and white patterned bottle.",
+    "Lift the bottle with white printed label and the brown bottle together with both arms.",
+    "Raise the medium-sized green bottle with one arm and the small bottle with decorative design with the other."
+  ],
+  "unseen": [
+    "Lift the green bottle as the other arm lifts the glossy brown bottle.",
+    "Grab the green plastic bottle with ridged bottom and the glossy brown bottle at the same time.",
+    "Grasp the green plastic bottle with ridged bottom and the brown bottle with glossy swirls simultaneously.",
+    "Use one arm for the green bottle and the other for the brown bottle with glossy swirls.",
+    "Use each arm to grab one of the green bottle and the cylindrical bottle with curved sides.",
+    "Take hold of the green plastic bottle with ridged bottom and the glossy brown bottle at once.",
+    "Lift the green bottle with white label and the cylindrical bottle with curved sides simultaneously with separate arms.",
+    "Pick up both the green bottle with white label and the glossy brown bottle together.",
+    "Pick up the green bottle with white label and the brown bottle with glossy swirls in parallel.",
+    "Raise both different bottles, the green bottle with white label and the brown bottle with glossy swirls, together.",
+    "Lift the green bottle with white label as the other arm lifts the glossy brown bottle.",
+    "Grab the green bottle with white label and the brown bottle with glossy swirls at the same time.",
+    "Grasp the green plastic bottle with ridged bottom and the brown bottle with glossy swirls simultaneously.",
+    "Use one arm for the green bottle and the other for the brown bottle with glossy swirls.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the brown bottle with glossy swirls.",
+    "Take hold of the green bottle with white label and the cylindrical bottle with curved sides at once.",
+    "Lift the green bottle with white label and the cylindrical bottle with curved sides simultaneously with separate arms.",
+    "Pick up both the green bottle and the brown bottle with glossy swirls together.",
+    "Pick up the green plastic bottle with ridged bottom and the brown bottle with glossy swirls in parallel.",
+    "Raise both different bottles, the green bottle and the brown bottle with glossy swirls, together.",
+    "Lift the green bottle as the other arm lifts the brown bottle with glossy swirls.",
+    "Grab the green bottle and the cylindrical bottle with curved sides at the same time.",
+    "Grasp the green bottle with white label and the glossy brown bottle simultaneously.",
+    "Use one arm for the green bottle and the other for the cylindrical bottle with curved sides.",
+    "Use each arm to grab one of the green bottle with white label and the cylindrical bottle with curved sides.",
+    "Take hold of the green bottle and the cylindrical bottle with curved sides at once.",
+    "Lift the green plastic bottle with ridged bottom and the cylindrical bottle with curved sides simultaneously with separate arms.",
+    "Pick up both the green plastic bottle with ridged bottom and the glossy brown bottle together.",
+    "Pick up the green bottle with white label and the glossy brown bottle in parallel.",
+    "Raise both different bottles, the green bottle with white label and the brown bottle with glossy swirls, together.",
+    "Lift the green bottle with white label as the other arm lifts the glossy brown bottle.",
+    "Grab the green bottle with white label and the brown bottle with glossy swirls at the same time.",
+    "Grasp the green bottle with white label and the brown bottle with glossy swirls simultaneously.",
+    "Use one arm for the green bottle with white label and the other for the brown bottle with glossy swirls.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the glossy brown bottle.",
+    "Take hold of the green bottle and the glossy brown bottle at once.",
+    "Lift the green bottle with white label and the cylindrical bottle with curved sides simultaneously with separate arms.",
+    "Pick up both the green bottle and the cylindrical bottle with curved sides together.",
+    "Pick up the green bottle with white label and the brown bottle with glossy swirls in parallel.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the glossy brown bottle, together.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the cylindrical bottle with curved sides.",
+    "Grab the green bottle with white label and the brown bottle with glossy swirls at the same time.",
+    "Grasp the green bottle and the glossy brown bottle simultaneously.",
+    "Use one arm for the green bottle with white label and the other for the cylindrical bottle with curved sides.",
+    "Use each arm to grab one of the green bottle and the brown bottle with glossy swirls.",
+    "Take hold of the green plastic bottle with ridged bottom and the glossy brown bottle at once.",
+    "Lift the green bottle with white label and the cylindrical bottle with curved sides simultaneously with separate arms.",
+    "Pick up both the green bottle with white label and the glossy brown bottle together.",
+    "Pick up the green plastic bottle with ridged bottom and the cylindrical bottle with curved sides in parallel.",
+    "Raise both different bottles, the green bottle with white label and the brown bottle with glossy swirls, together.",
+    "Lift the green plastic bottle with ridged bottom as the other arm lifts the brown bottle with glossy swirls.",
+    "Grab the green bottle and the brown bottle with glossy swirls at the same time.",
+    "Grasp the green plastic bottle with ridged bottom and the glossy brown bottle simultaneously.",
+    "Use one arm for the green bottle with white label and the other for the brown bottle with glossy swirls.",
+    "Use each arm to grab one of the green bottle and the brown bottle with glossy swirls.",
+    "Take hold of the green plastic bottle with ridged bottom and the glossy brown bottle at once.",
+    "Lift the green bottle with white label and the brown bottle with glossy swirls simultaneously with separate arms.",
+    "Pick up both the green bottle with white label and the glossy brown bottle together.",
+    "Pick up the green plastic bottle with ridged bottom and the brown bottle with glossy swirls in parallel.",
+    "Raise both different bottles, the green bottle and the brown bottle with glossy swirls, together.",
+    "Lift the green bottle with white label as the other arm lifts the glossy brown bottle.",
+    "Grab the green bottle with white label and the brown bottle with glossy swirls at the same time.",
+    "Grasp the green bottle with white label and the glossy brown bottle simultaneously.",
+    "Use one arm for the green bottle with white label and the other for the brown bottle with glossy swirls.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the brown bottle with glossy swirls.",
+    "Take hold of the green bottle and the brown bottle with glossy swirls at once.",
+    "Lift the green plastic bottle with ridged bottom and the cylindrical bottle with curved sides simultaneously with separate arms.",
+    "Pick up both the green bottle and the brown bottle with glossy swirls together.",
+    "Pick up the green bottle and the cylindrical bottle with curved sides in parallel.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the cylindrical bottle with curved sides, together.",
+    "Lift the green bottle as the other arm lifts the brown bottle with glossy swirls.",
+    "Grab the green plastic bottle with ridged bottom and the brown bottle with glossy swirls at the same time.",
+    "Grasp the green bottle and the cylindrical bottle with curved sides simultaneously.",
+    "Use one arm for the green plastic bottle with ridged bottom and the other for the cylindrical bottle with curved sides.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the cylindrical bottle with curved sides.",
+    "Take hold of the green bottle with white label and the glossy brown bottle at once.",
+    "Lift the green bottle and the brown bottle with glossy swirls simultaneously with separate arms.",
+    "Pick up both the green bottle and the glossy brown bottle together.",
+    "Pick up the green bottle and the glossy brown bottle in parallel.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the glossy brown bottle, together.",
+    "Lift the green bottle as the other arm lifts the glossy brown bottle.",
+    "Grab the green bottle with white label and the cylindrical bottle with curved sides at the same time.",
+    "Grasp the green bottle and the glossy brown bottle simultaneously.",
+    "Use one arm for the green bottle and the other for the cylindrical bottle with curved sides.",
+    "Use each arm to grab one of the green plastic bottle with ridged bottom and the brown bottle with glossy swirls.",
+    "Take hold of the green plastic bottle with ridged bottom and the cylindrical bottle with curved sides at once.",
+    "Lift the green bottle with white label and the glossy brown bottle simultaneously with separate arms.",
+    "Pick up both the green bottle with white label and the cylindrical bottle with curved sides together.",
+    "Pick up the green bottle with white label and the brown bottle with glossy swirls in parallel.",
+    "Raise both different bottles, the green plastic bottle with ridged bottom and the brown bottle with glossy swirls, together.",
+    "Lift the green bottle with white label as the other arm lifts the cylindrical bottle with curved sides.",
+    "Grab the green bottle with white label and the brown bottle with glossy swirls at the same time.",
+    "Grasp the green bottle with white label and the glossy brown bottle simultaneously.",
+    "Use one arm for the green bottle and the other for the cylindrical bottle with curved sides.",
+    "Use each arm to grab one of the green bottle with white label and the brown bottle with glossy swirls.",
+    "Take hold of the green plastic bottle with ridged bottom and the brown bottle with glossy swirls at once.",
+    "Lift the green bottle with white label and the glossy brown bottle simultaneously with separate arms.",
+    "Pick up both the green bottle with white label and the cylindrical bottle with curved sides together.",
+    "Pick up the green bottle with white label and the brown bottle with glossy swirls in parallel.",
+    "Raise both different bottles, the green bottle with white label and the brown bottle with glossy swirls, together."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000031.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..af5c23083c69799589f82b7b7dfe5511ad473c97
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000031.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the rectangular-shaped bottle with round cap in one arm and the cylindrical orange plastic bottle in the other.",
+    "Raise the rectangular-shaped bottle with round cap and the bottle for holding drinks at the same time.",
+    "Catch the smooth plastic bottle with white cap and the cylindrical orange plastic bottle together.",
+    "Grasp the different bottles the dark brown bottle with a squared body and the orange bottle simultaneously.",
+    "Take hold of the brown bottle and the round-bottom bottle with white cap at once.",
+    "Use both arms simultaneously for the rectangular brown body with white top and the grooved orange drink bottle.",
+    "Raise both bottles at once: the brown bottle and the orange bottle.",
+    "Pick the bottle with flat sides and logo and the grooved orange drink bottle up in parallel.",
+    "Grab the bottle with flat sides and logo and the smooth orange bottle at the same time.",
+    "Use each arm to secure one of the medium bottle with glossy surface and the medium bottle with colorful label.",
+    "Secure both the bottle with green cap and the grooved orange drink bottle simultaneously.",
+    "Each arm should grab one bottle: the smooth brown bottle with green label and the orange drink bottle with label.",
+    "Grasp the medium-sized brown plastic bottle as the other arm grasps the medium bottle with colorful label.",
+    "Pick up both the bottle with green cap and the smooth orange bottle using separate arms.",
+    "Lift both different bottles, the medium bottle with glossy surface and the orange drink bottle with label, together.",
+    "Reach for the rectangular brown body with white top and the medium bottle with colorful label with both arms at once.",
+    "Use both arms to grasp the medium-sized brown plastic bottle and the curved orange soda bottle together.",
+    "Pick up the pair the rectangular-shaped bottle with round cap and the plastic bottle together.",
+    "Grab both bottles in parallel, the dark brown bottle with a squared body and the grooved orange drink bottle.",
+    "Pick the brown bottle with rounded rectangular shape while the other arm picks the orange bottle.",
+    "Hold both the dark brown bottle with a squared body and the medium bottle with colorful label, one in each arm.",
+    "Lift the bottle with green cap and the curved orange soda bottle in one synchronized motion.",
+    "Take the smooth plastic bottle with white cap and the light and medium-sized bottle together, one per arm.",
+    "Lift the plastic bottle and the medium bottle with colorful label together with both arms.",
+    "Simultaneously grasp and lift the brown bottle with rounded rectangular shape and the orange drink bottle with label.",
+    "Assign one arm to the medium bottle with glossy surface and one to the orange bottle.",
+    "Use one arm for the bottle with green cap and the other for the round-bottom bottle with white cap.",
+    "Use separate arms to lift the smooth plastic bottle with white cap and the curved orange soda bottle.",
+    "Raise the bottle with flat sides and logo with one arm and the cylindrical orange plastic bottle with the other.",
+    "Pick up the plastic bottle and the cylindrical orange plastic bottle simultaneously.",
+    "Hold the smooth plastic bottle with white cap in one arm and the curved orange soda bottle in the other.",
+    "Raise the rectangular-shaped bottle with round cap and the bottle for holding drinks at the same time.",
+    "Catch the smooth plastic bottle with white cap and the orange drink bottle with label together.",
+    "Grasp the different bottles the medium bottle with glossy surface and the light and medium-sized bottle simultaneously.",
+    "Take hold of the brown bottle and the ridged orange bottle with grooves at once.",
+    "Use both arms simultaneously for the medium bottle with glossy surface and the cylindrical orange plastic bottle.",
+    "Raise both bottles at once: the medium-sized brown plastic bottle and the bottle for holding drinks.",
+    "Pick the rectangular-shaped bottle with round cap and the grooved orange drink bottle up in parallel.",
+    "Grab the rectangular-shaped bottle with round cap and the bottle for holding drinks at the same time.",
+    "Use each arm to secure one of the brown bottle with rounded rectangular shape and the plastic bottle.",
+    "Secure both the smooth plastic bottle with white cap and the medium bottle with colorful label simultaneously.",
+    "Each arm should grab one bottle: the brown bottle and the curved orange soda bottle.",
+    "Grasp the rectangular-shaped bottle with round cap as the other arm grasps the orange drink bottle with label.",
+    "Pick up both the dark brown bottle with a squared body and the smooth orange bottle using separate arms.",
+    "Lift both different bottles, the smooth plastic bottle with white cap and the grooved orange drink bottle, together.",
+    "Reach for the bottle with green cap and the curved orange soda bottle with both arms at once.",
+    "Use both arms to grasp the dark brown bottle with a squared body and the medium bottle with colorful label together.",
+    "Pick up the pair the smooth plastic bottle with white cap and the light and medium-sized bottle together.",
+    "Grab both bottles in parallel, the brown bottle and the cylindrical orange plastic bottle.",
+    "Pick the smooth plastic bottle with white cap while the other arm picks the orange drink bottle with label.",
+    "Hold both the smooth plastic bottle with white cap and the cylindrical orange plastic bottle, one in each arm.",
+    "Lift the bottle with green cap and the bottle for holding drinks in one synchronized motion.",
+    "Take the bottle with green cap and the curved orange soda bottle together, one per arm.",
+    "Lift the rectangular brown body with white top and the orange bottle together with both arms.",
+    "Simultaneously grasp and lift the brown bottle and the plastic bottle.",
+    "Assign one arm to the rectangular-shaped bottle with round cap and one to the medium bottle with colorful label.",
+    "Use one arm for the rectangular-shaped bottle with round cap and the other for the orange bottle.",
+    "Use separate arms to lift the dark brown bottle with a squared body and the light and medium-sized bottle.",
+    "Raise the bottle with flat sides and logo with one arm and the grooved orange drink bottle with the other.",
+    "Pick up the smooth brown bottle with green label and the bottle for holding drinks simultaneously.",
+    "Hold the bottle with green cap in one arm and the orange bottle in the other.",
+    "Raise the bottle with green cap and the round-bottom bottle with white cap at the same time.",
+    "Catch the medium-sized brown plastic bottle and the round-bottom bottle with white cap together.",
+    "Grasp the different bottles the brown bottle with rounded rectangular shape and the cylindrical orange plastic bottle simultaneously.",
+    "Take hold of the brown bottle and the orange bottle at once.",
+    "Use both arms simultaneously for the smooth plastic bottle with white cap and the curved orange soda bottle.",
+    "Raise both bottles at once: the brown bottle with rounded rectangular shape and the orange bottle.",
+    "Pick the smooth plastic bottle with white cap and the cylindrical orange plastic bottle up in parallel.",
+    "Grab the dark brown bottle with a squared body and the round-bottom bottle with white cap at the same time.",
+    "Use each arm to secure one of the smooth brown bottle with green label and the medium bottle with colorful label.",
+    "Secure both the medium-sized brown plastic bottle and the light and medium-sized bottle simultaneously.",
+    "Each arm should grab one bottle: the medium-sized brown plastic bottle and the medium bottle with colorful label.",
+    "Grasp the smooth plastic bottle with white cap as the other arm grasps the orange drink bottle with label.",
+    "Pick up both the bottle with flat sides and logo and the cylindrical orange plastic bottle using separate arms.",
+    "Lift both different bottles, the dark brown bottle with a squared body and the smooth orange bottle, together.",
+    "Reach for the dark brown bottle with a squared body and the light and medium-sized bottle with both arms at once.",
+    "Use both arms to grasp the plastic bottle and the ridged orange bottle with grooves together.",
+    "Pick up the pair the brown bottle with rounded rectangular shape and the ridged orange bottle with grooves together.",
+    "Grab both bottles in parallel, the bottle with flat sides and logo and the grooved orange drink bottle.",
+    "Pick the brown bottle while the other arm picks the curved orange soda bottle.",
+    "Hold both the smooth brown bottle with green label and the smooth orange bottle, one in each arm.",
+    "Lift the rectangular-shaped bottle with round cap and the grooved orange drink bottle in one synchronized motion.",
+    "Take the smooth plastic bottle with white cap and the plastic bottle together, one per arm.",
+    "Lift the medium bottle with glossy surface and the cylindrical orange plastic bottle together with both arms.",
+    "Simultaneously grasp and lift the plastic bottle and the light and medium-sized bottle.",
+    "Assign one arm to the bottle with green cap and one to the orange drink bottle with label.",
+    "Use one arm for the brown bottle and the other for the orange drink bottle with label.",
+    "Use separate arms to lift the smooth plastic bottle with white cap and the bottle for holding drinks.",
+    "Raise the plastic bottle with one arm and the orange bottle with the other.",
+    "Pick up the bottle with flat sides and logo and the ridged orange bottle with grooves simultaneously.",
+    "Hold the brown bottle with rounded rectangular shape in one arm and the orange drink bottle with label in the other.",
+    "Raise the brown bottle and the curved orange soda bottle at the same time.",
+    "Catch the bottle with green cap and the grooved orange drink bottle together.",
+    "Grasp the different bottles the medium-sized brown plastic bottle and the orange drink bottle with label simultaneously.",
+    "Take hold of the smooth plastic bottle with white cap and the ridged orange bottle with grooves at once.",
+    "Use both arms simultaneously for the plastic bottle and the ridged orange bottle with grooves.",
+    "Raise both bottles at once: the rectangular brown body with white top and the ridged orange bottle with grooves.",
+    "Pick the medium bottle with glossy surface and the cylindrical orange plastic bottle up in parallel.",
+    "Grab the brown bottle and the curved orange soda bottle at the same time.",
+    "Use each arm to secure one of the rectangular brown body with white top and the bottle for holding drinks."
+  ],
+  "unseen": [
+    "Pick up both the medium-sized plastic bottle with capped top and the bottle with ridged orange grip together.",
+    "Grasp the liquid container dark brown plastic and the white capped orange plastic bottle simultaneously.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the white capped orange plastic bottle.",
+    "Grab the liquid container dark brown plastic and the bottle with white cap at the same time.",
+    "Use one arm for the liquid container dark brown plastic and the other for the bottle with white cap.",
+    "Pick up the medium-sized plastic bottle with capped top and the white capped orange plastic bottle in parallel.",
+    "Raise both different bottles, the bottle with green label and white lid and the bottle with ridged orange grip, together.",
+    "Lift the bottle with green label and white lid and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the white capped orange plastic bottle.",
+    "Take hold of the medium-sized plastic bottle with capped top and the white capped orange plastic bottle at once.",
+    "Pick up both the bottle with green label and white lid and the bottle with ridged orange grip together.",
+    "Grasp the liquid container dark brown plastic and the white capped orange plastic bottle simultaneously.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the white capped orange plastic bottle.",
+    "Grab the liquid container dark brown plastic and the bottle with ridged orange grip at the same time.",
+    "Use one arm for the bottle with green label and white lid and the other for the bottle with white cap.",
+    "Pick up the bottle with green label and white lid and the bottle with white cap in parallel.",
+    "Raise both different bottles, the medium-sized plastic bottle with capped top and the bottle with ridged orange grip, together.",
+    "Lift the bottle with green label and white lid and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Lift the bottle with green label and white lid as the other arm lifts the white capped orange plastic bottle.",
+    "Take hold of the bottle with green label and white lid and the bottle with white cap at once.",
+    "Pick up both the medium-sized plastic bottle with capped top and the bottle with ridged orange grip together.",
+    "Grasp the liquid container dark brown plastic and the white capped orange plastic bottle simultaneously.",
+    "Use each arm to grab one of the bottle with green label and white lid and the white capped orange plastic bottle.",
+    "Grab the bottle with green label and white lid and the bottle with white cap at the same time.",
+    "Use one arm for the medium-sized plastic bottle with capped top and the other for the bottle with ridged orange grip.",
+    "Pick up the liquid container dark brown plastic and the bottle with ridged orange grip in parallel.",
+    "Raise both different bottles, the liquid container dark brown plastic and the white capped orange plastic bottle, together.",
+    "Lift the liquid container dark brown plastic and the bottle with white cap simultaneously with separate arms.",
+    "Lift the bottle with green label and white lid as the other arm lifts the white capped orange plastic bottle.",
+    "Take hold of the bottle with green label and white lid and the bottle with white cap at once.",
+    "Pick up both the medium-sized plastic bottle with capped top and the bottle with ridged orange grip together.",
+    "Grasp the medium-sized plastic bottle with capped top and the bottle with white cap simultaneously.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with white cap.",
+    "Grab the medium-sized plastic bottle with capped top and the bottle with ridged orange grip at the same time.",
+    "Use one arm for the liquid container dark brown plastic and the other for the bottle with white cap.",
+    "Pick up the liquid container dark brown plastic and the white capped orange plastic bottle in parallel.",
+    "Raise both different bottles, the medium-sized plastic bottle with capped top and the bottle with white cap, together.",
+    "Lift the bottle with green label and white lid and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the bottle with ridged orange grip.",
+    "Take hold of the bottle with green label and white lid and the bottle with white cap at once.",
+    "Pick up both the medium-sized plastic bottle with capped top and the bottle with white cap together.",
+    "Grasp the liquid container dark brown plastic and the bottle with ridged orange grip simultaneously.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with ridged orange grip.",
+    "Grab the medium-sized plastic bottle with capped top and the white capped orange plastic bottle at the same time.",
+    "Use one arm for the bottle with green label and white lid and the other for the bottle with white cap.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with white cap in parallel.",
+    "Raise both different bottles, the bottle with green label and white lid and the bottle with ridged orange grip, together.",
+    "Lift the medium-sized plastic bottle with capped top and the bottle with white cap simultaneously with separate arms.",
+    "Lift the bottle with green label and white lid as the other arm lifts the bottle with ridged orange grip.",
+    "Take hold of the medium-sized plastic bottle with capped top and the bottle with white cap at once.",
+    "Pick up both the medium-sized plastic bottle with capped top and the bottle with ridged orange grip together.",
+    "Grasp the medium-sized plastic bottle with capped top and the bottle with ridged orange grip simultaneously.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with ridged orange grip.",
+    "Grab the liquid container dark brown plastic and the bottle with ridged orange grip at the same time.",
+    "Use one arm for the bottle with green label and white lid and the other for the bottle with white cap.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with ridged orange grip in parallel.",
+    "Raise both different bottles, the bottle with green label and white lid and the bottle with ridged orange grip, together.",
+    "Lift the liquid container dark brown plastic and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the white capped orange plastic bottle.",
+    "Take hold of the liquid container dark brown plastic and the bottle with white cap at once.",
+    "Pick up both the liquid container dark brown plastic and the white capped orange plastic bottle together.",
+    "Grasp the medium-sized plastic bottle with capped top and the bottle with white cap simultaneously.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with white cap.",
+    "Grab the liquid container dark brown plastic and the bottle with white cap at the same time.",
+    "Use one arm for the bottle with green label and white lid and the other for the white capped orange plastic bottle.",
+    "Pick up the liquid container dark brown plastic and the bottle with ridged orange grip in parallel.",
+    "Raise both different bottles, the bottle with green label and white lid and the bottle with ridged orange grip, together.",
+    "Lift the bottle with green label and white lid and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the bottle with ridged orange grip.",
+    "Take hold of the liquid container dark brown plastic and the white capped orange plastic bottle at once.",
+    "Pick up both the liquid container dark brown plastic and the bottle with white cap together.",
+    "Grasp the bottle with green label and white lid and the bottle with white cap simultaneously.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the white capped orange plastic bottle.",
+    "Grab the bottle with green label and white lid and the bottle with white cap at the same time.",
+    "Use one arm for the bottle with green label and white lid and the other for the bottle with ridged orange grip.",
+    "Pick up the liquid container dark brown plastic and the bottle with white cap in parallel.",
+    "Raise both different bottles, the bottle with green label and white lid and the white capped orange plastic bottle, together.",
+    "Lift the bottle with green label and white lid and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Lift the liquid container dark brown plastic as the other arm lifts the bottle with white cap.",
+    "Take hold of the medium-sized plastic bottle with capped top and the bottle with white cap at once.",
+    "Pick up both the medium-sized plastic bottle with capped top and the bottle with white cap together.",
+    "Grasp the bottle with green label and white lid and the bottle with white cap simultaneously.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with ridged orange grip.",
+    "Grab the bottle with green label and white lid and the white capped orange plastic bottle at the same time.",
+    "Use one arm for the bottle with green label and white lid and the other for the white capped orange plastic bottle.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with white cap in parallel.",
+    "Raise both different bottles, the bottle with green label and white lid and the bottle with white cap, together.",
+    "Lift the bottle with green label and white lid and the bottle with white cap simultaneously with separate arms.",
+    "Lift the bottle with green label and white lid as the other arm lifts the white capped orange plastic bottle.",
+    "Take hold of the liquid container dark brown plastic and the white capped orange plastic bottle at once.",
+    "Pick up both the liquid container dark brown plastic and the bottle with white cap together.",
+    "Grasp the bottle with green label and white lid and the white capped orange plastic bottle simultaneously.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with ridged orange grip.",
+    "Grab the liquid container dark brown plastic and the bottle with ridged orange grip at the same time.",
+    "Use one arm for the medium-sized plastic bottle with capped top and the other for the bottle with ridged orange grip.",
+    "Pick up the bottle with green label and white lid and the white capped orange plastic bottle in parallel.",
+    "Raise both different bottles, the medium-sized plastic bottle with capped top and the white capped orange plastic bottle, together.",
+    "Lift the bottle with green label and white lid and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Lift the bottle with green label and white lid as the other arm lifts the white capped orange plastic bottle.",
+    "Take hold of the bottle with green label and white lid and the bottle with ridged orange grip at once."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000032.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0ef1eb8cb9e0fda7de7689167d8758f256eac57
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000032.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use each arm to secure one of the bottle with blue cap and the cylindrical bottle with narrow neck.",
+    "Pick up both the plastic bottle and the medium plastic bottle using separate arms.",
+    "Pick the smooth plastic bottle while the other arm picks the white-capped brown cylindrical bottle.",
+    "Hold both the blue bottle and the plastic bottle with printed label, one in each arm.",
+    "Lift the medium bottle for beverages and the white-capped brown cylindrical bottle together with both arms.",
+    "Grab both bottles in parallel, the plastic bottle and the smooth brown bottle.",
+    "Grasp the different bottles the bottle for liquids and the handheld brown bottle with white lid simultaneously.",
+    "Each arm should grab one bottle: the blue bottle with label and the medium bottle with smooth texture.",
+    "Hold the blue bottle in one arm and the cylindrical bottle with narrow neck in the other.",
+    "Grab the medium bottle for beverages and the medium bottle with smooth texture at the same time.",
+    "Take hold of the white and blue bottle and the plastic bottle for liquids at once.",
+    "Lift both different bottles, the plastic bottle and the plastic bottle for liquids, together.",
+    "Use both arms to grasp the white and blue bottle and the cylindrical bottle with narrow neck together.",
+    "Use separate arms to lift the cylindrical bottle and the plastic bottle with printed label.",
+    "Catch the bottle with blue cap and the plastic bottle with printed label together.",
+    "Lift the medium-sized bottle and the plastic bottle for liquids in one synchronized motion.",
+    "Pick the blue bottle with label and the medium bottle with smooth texture up in parallel.",
+    "Take the blue bottle and the bottle with brown body and white top together, one per arm.",
+    "Pick up the pair the blue bottle with label and the plastic bottle for liquids together.",
+    "Grasp the blue bottle with label as the other arm grasps the rounded bottle with printed details.",
+    "Raise the bottle with blue cap with one arm and the bottle with white cap with the other.",
+    "Secure both the white and blue bottle and the bottle with white cap simultaneously.",
+    "Raise both bottles at once: the blue bottle with label and the medium bottle with smooth texture.",
+    "Reach for the white bottle with blue accents and the white-capped brown cylindrical bottle with both arms at once.",
+    "Raise the white and blue bottle and the smooth brown bottle at the same time.",
+    "Simultaneously grasp and lift the plastic bottle and the smooth brown bottle.",
+    "Use one arm for the plastic bottle and the other for the bottle with white cap.",
+    "Use both arms simultaneously for the cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Pick up the medium bottle for beverages and the white-capped brown cylindrical bottle simultaneously.",
+    "Assign one arm to the white bottle with blue accents and one to the medium plastic bottle.",
+    "Use each arm to secure one of the cylindrical bottle and the plastic bottle for liquids.",
+    "Pick up both the bottle for liquids and the smooth brown bottle using separate arms.",
+    "Pick the handheld bottle while the other arm picks the white-capped brown cylindrical bottle.",
+    "Hold both the medium bottle for beverages and the rounded bottle with printed details, one in each arm.",
+    "Lift the white bottle with blue accents and the cylindrical bottle with narrow neck together with both arms.",
+    "Grab both bottles in parallel, the blue bottle and the medium bottle with smooth texture.",
+    "Grasp the different bottles the blue bottle and the medium plastic bottle simultaneously.",
+    "Each arm should grab one bottle: the white bottle with blue accents and the medium plastic bottle.",
+    "Hold the blue bottle with label in one arm and the bottle with brown body and white top in the other.",
+    "Grab the smooth plastic bottle and the bottle with dark brown color at the same time.",
+    "Take hold of the white bottle with blue accents and the medium plastic bottle at once.",
+    "Lift both different bottles, the handheld bottle and the plastic bottle for liquids, together.",
+    "Use both arms to grasp the blue bottle with label and the plastic bottle with printed label together.",
+    "Use separate arms to lift the white and blue bottle and the medium plastic bottle.",
+    "Catch the cylindrical bottle and the bottle with brown body and white top together.",
+    "Lift the blue bottle with label and the rounded bottle with printed details in one synchronized motion.",
+    "Pick the plastic bottle and the smooth brown bottle up in parallel.",
+    "Take the blue bottle and the cylindrical bottle with narrow neck together, one per arm.",
+    "Pick up the pair the blue bottle and the medium bottle with smooth texture together.",
+    "Grasp the blue bottle with label as the other arm grasps the cylindrical bottle with narrow neck.",
+    "Raise the handheld bottle with one arm and the medium bottle with smooth texture with the other.",
+    "Secure both the medium-sized bottle and the plastic bottle for liquids simultaneously.",
+    "Raise both bottles at once: the white bottle with blue accents and the medium bottle with smooth texture.",
+    "Reach for the blue bottle and the bottle with dark brown color with both arms at once.",
+    "Raise the bottle with blue cap and the bottle with dark brown color at the same time.",
+    "Simultaneously grasp and lift the white bottle with blue accents and the rounded bottle with printed details.",
+    "Use one arm for the blue bottle and the other for the white-capped brown cylindrical bottle.",
+    "Use both arms simultaneously for the blue bottle and the handheld brown bottle with white lid.",
+    "Pick up the medium-sized bottle and the rounded bottle with printed details simultaneously.",
+    "Assign one arm to the medium bottle for beverages and one to the white-capped brown cylindrical bottle.",
+    "Use each arm to secure one of the plastic bottle and the smooth brown bottle.",
+    "Pick up both the handheld bottle and the bottle with brown body and white top using separate arms.",
+    "Pick the bottle with blue cap while the other arm picks the bottle with brown body and white top.",
+    "Hold both the white and blue bottle and the handheld brown bottle with white lid, one in each arm.",
+    "Lift the plastic bottle and the smooth brown bottle together with both arms.",
+    "Grab both bottles in parallel, the blue bottle and the bottle with dark brown color.",
+    "Grasp the different bottles the blue bottle with label and the plastic bottle with printed label simultaneously.",
+    "Each arm should grab one bottle: the white and blue bottle and the white-capped brown cylindrical bottle.",
+    "Hold the blue bottle in one arm and the rounded bottle with printed details in the other.",
+    "Grab the plastic bottle and the bottle with white cap at the same time.",
+    "Take hold of the cylindrical bottle and the bottle with brown body and white top at once.",
+    "Lift both different bottles, the white bottle with blue accents and the bottle with white cap, together.",
+    "Use both arms to grasp the plastic bottle and the bottle with white cap together.",
+    "Use separate arms to lift the plastic bottle and the plastic bottle with printed label.",
+    "Catch the handheld bottle and the rounded bottle with printed details together.",
+    "Lift the cylindrical bottle and the bottle with dark brown color in one synchronized motion.",
+    "Pick the smooth plastic bottle and the smooth brown bottle up in parallel.",
+    "Take the cylindrical bottle and the plastic bottle with printed label together, one per arm.",
+    "Pick up the pair the bottle for liquids and the white-capped brown cylindrical bottle together.",
+    "Grasp the white and blue bottle as the other arm grasps the cylindrical bottle with narrow neck.",
+    "Raise the handheld bottle with one arm and the rounded bottle with printed details with the other.",
+    "Secure both the blue bottle and the bottle with dark brown color simultaneously.",
+    "Raise both bottles at once: the white and blue bottle and the cylindrical bottle with narrow neck.",
+    "Reach for the cylindrical bottle and the plastic bottle for liquids with both arms at once.",
+    "Raise the medium bottle for beverages and the rounded bottle with printed details at the same time.",
+    "Simultaneously grasp and lift the blue bottle with label and the smooth brown bottle.",
+    "Use one arm for the white and blue bottle and the other for the rounded bottle with printed details.",
+    "Use both arms simultaneously for the blue bottle with label and the smooth brown bottle.",
+    "Pick up the medium-sized bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Assign one arm to the bottle with blue cap and one to the smooth brown bottle.",
+    "Use each arm to secure one of the medium bottle for beverages and the bottle with brown body and white top.",
+    "Pick up both the blue bottle and the plastic bottle with printed label using separate arms.",
+    "Pick the handheld bottle while the other arm picks the cylindrical bottle with narrow neck.",
+    "Hold both the cylindrical bottle and the bottle with white cap, one in each arm.",
+    "Lift the plastic bottle and the rounded bottle with printed details together with both arms.",
+    "Grab both bottles in parallel, the white bottle with blue accents and the medium plastic bottle.",
+    "Grasp the different bottles the blue bottle with label and the smooth brown bottle simultaneously.",
+    "Each arm should grab one bottle: the blue bottle with label and the white-capped brown cylindrical bottle.",
+    "Hold the cylindrical bottle in one arm and the plastic bottle with printed label in the other.",
+    "Grab the cylindrical bottle and the bottle with dark brown color at the same time."
+  ],
+  "unseen": [
+    "Take hold of the blue-capped plastic bottle and the brown cylindrical bottle with label at once.",
+    "Pick up both the blue-capped plastic bottle and the brown bottle together.",
+    "Pick up the blue-capped plastic bottle and the brown bottle in parallel.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the brown bottle.",
+    "Grab the bottle with curved neck design and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the bottle with ridged neck and the brown cylindrical bottle with label, together.",
+    "Use each arm to grab one of the bottle with curved neck design and the brown bottle.",
+    "Lift the bottle with ridged neck and the lightweight plastic brown bottle simultaneously with separate arms.",
+    "Grasp the bottle with curved neck design and the brown cylindrical bottle with label simultaneously.",
+    "Use one arm for the blue-capped plastic bottle and the other for the brown cylindrical bottle with label.",
+    "Take hold of the blue-capped plastic bottle and the lightweight plastic brown bottle at once.",
+    "Pick up both the bottle with curved neck design and the brown bottle together.",
+    "Pick up the bottle with ridged neck and the brown bottle in parallel.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the lightweight plastic brown bottle.",
+    "Grab the blue-capped plastic bottle and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the bottle with curved neck design and the brown cylindrical bottle with label, together.",
+    "Use each arm to grab one of the bottle with curved neck design and the brown cylindrical bottle with label.",
+    "Lift the bottle with curved neck design and the brown bottle simultaneously with separate arms.",
+    "Grasp the bottle with ridged neck and the brown bottle simultaneously.",
+    "Use one arm for the bottle with curved neck design and the other for the brown cylindrical bottle with label.",
+    "Take hold of the bottle with ridged neck and the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with ridged neck and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with ridged neck and the brown bottle in parallel.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the lightweight plastic brown bottle.",
+    "Grab the bottle with ridged neck and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the blue-capped plastic bottle and the brown cylindrical bottle with label, together.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the lightweight plastic brown bottle.",
+    "Lift the bottle with ridged neck and the brown bottle simultaneously with separate arms.",
+    "Grasp the blue-capped plastic bottle and the brown bottle simultaneously.",
+    "Use one arm for the bottle with ridged neck and the other for the lightweight plastic brown bottle.",
+    "Take hold of the bottle with curved neck design and the brown cylindrical bottle with label at once.",
+    "Pick up both the blue-capped plastic bottle and the brown bottle together.",
+    "Pick up the bottle with curved neck design and the lightweight plastic brown bottle in parallel.",
+    "Lift the bottle with ridged neck as the other arm lifts the lightweight plastic brown bottle.",
+    "Grab the bottle with curved neck design and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the bottle with ridged neck and the brown cylindrical bottle with label, together.",
+    "Use each arm to grab one of the bottle with curved neck design and the brown bottle.",
+    "Lift the bottle with curved neck design and the brown cylindrical bottle with label simultaneously with separate arms.",
+    "Grasp the blue-capped plastic bottle and the lightweight plastic brown bottle simultaneously.",
+    "Use one arm for the bottle with curved neck design and the other for the brown bottle.",
+    "Take hold of the bottle with ridged neck and the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with curved neck design and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with ridged neck and the brown bottle in parallel.",
+    "Lift the bottle with ridged neck as the other arm lifts the brown cylindrical bottle with label.",
+    "Grab the bottle with curved neck design and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the bottle with curved neck design and the brown bottle, together.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the lightweight plastic brown bottle.",
+    "Lift the bottle with ridged neck and the brown bottle simultaneously with separate arms.",
+    "Grasp the bottle with curved neck design and the brown cylindrical bottle with label simultaneously.",
+    "Use one arm for the bottle with curved neck design and the other for the brown bottle.",
+    "Take hold of the bottle with ridged neck and the lightweight plastic brown bottle at once.",
+    "Pick up both the blue-capped plastic bottle and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with ridged neck and the brown bottle in parallel.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the lightweight plastic brown bottle.",
+    "Grab the bottle with curved neck design and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the bottle with ridged neck and the brown cylindrical bottle with label, together.",
+    "Use each arm to grab one of the bottle with ridged neck and the brown bottle.",
+    "Lift the blue-capped plastic bottle and the brown bottle simultaneously with separate arms.",
+    "Grasp the bottle with curved neck design and the brown bottle simultaneously.",
+    "Use one arm for the bottle with curved neck design and the other for the lightweight plastic brown bottle.",
+    "Take hold of the blue-capped plastic bottle and the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with curved neck design and the brown cylindrical bottle with label together.",
+    "Pick up the bottle with ridged neck and the brown cylindrical bottle with label in parallel.",
+    "Lift the bottle with ridged neck as the other arm lifts the lightweight plastic brown bottle.",
+    "Grab the bottle with curved neck design and the lightweight plastic brown bottle at the same time.",
+    "Raise both different bottles, the blue-capped plastic bottle and the brown bottle, together.",
+    "Use each arm to grab one of the bottle with ridged neck and the brown cylindrical bottle with label.",
+    "Lift the bottle with curved neck design and the brown cylindrical bottle with label simultaneously with separate arms.",
+    "Grasp the bottle with curved neck design and the brown bottle simultaneously.",
+    "Use one arm for the blue-capped plastic bottle and the other for the brown cylindrical bottle with label.",
+    "Take hold of the bottle with ridged neck and the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with ridged neck and the brown cylindrical bottle with label together.",
+    "Pick up the blue-capped plastic bottle and the brown cylindrical bottle with label in parallel.",
+    "Lift the bottle with ridged neck as the other arm lifts the brown cylindrical bottle with label.",
+    "Grab the bottle with ridged neck and the brown bottle at the same time.",
+    "Raise both different bottles, the bottle with curved neck design and the lightweight plastic brown bottle, together.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the brown cylindrical bottle with label.",
+    "Lift the blue-capped plastic bottle and the brown bottle simultaneously with separate arms.",
+    "Grasp the bottle with curved neck design and the brown cylindrical bottle with label simultaneously.",
+    "Use one arm for the blue-capped plastic bottle and the other for the brown cylindrical bottle with label.",
+    "Take hold of the bottle with ridged neck and the brown bottle at once.",
+    "Pick up both the bottle with curved neck design and the lightweight plastic brown bottle together.",
+    "Pick up the blue-capped plastic bottle and the brown bottle in parallel.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the lightweight plastic brown bottle.",
+    "Grab the blue-capped plastic bottle and the brown bottle at the same time.",
+    "Raise both different bottles, the bottle with curved neck design and the brown bottle, together.",
+    "Use each arm to grab one of the bottle with ridged neck and the lightweight plastic brown bottle.",
+    "Lift the bottle with ridged neck and the lightweight plastic brown bottle simultaneously with separate arms.",
+    "Grasp the bottle with ridged neck and the brown cylindrical bottle with label simultaneously.",
+    "Use one arm for the blue-capped plastic bottle and the other for the brown cylindrical bottle with label.",
+    "Take hold of the blue-capped plastic bottle and the brown cylindrical bottle with label at once.",
+    "Pick up both the bottle with ridged neck and the lightweight plastic brown bottle together.",
+    "Pick up the bottle with curved neck design and the brown cylindrical bottle with label in parallel.",
+    "Lift the bottle with curved neck design as the other arm lifts the lightweight plastic brown bottle.",
+    "Grab the bottle with curved neck design and the brown cylindrical bottle with label at the same time.",
+    "Raise both different bottles, the blue-capped plastic bottle and the brown cylindrical bottle with label, together.",
+    "Use each arm to grab one of the bottle with curved neck design and the lightweight plastic brown bottle.",
+    "Lift the bottle with curved neck design and the lightweight plastic brown bottle simultaneously with separate arms.",
+    "Grasp the blue-capped plastic bottle and the brown cylindrical bottle with label simultaneously.",
+    "Use one arm for the blue-capped plastic bottle and the other for the lightweight plastic brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000033.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9c27c723a5f175868e2da998b6b6bb08ffba0ad
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000033.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab both bottles in parallel, the medium bottle with smooth texture and the brown bottle with red label.",
+    "Use both arms to grasp the handheld brown bottle with white lid and the long thin bottle together.",
+    "Simultaneously grasp and lift the bottle with brown body and white top and the long thin bottle.",
+    "Secure both the handheld brown bottle with white lid and the brown bottle with red label simultaneously.",
+    "Use both arms simultaneously for the bottle with dark brown color and the dark drink bottle with logo.",
+    "Use one arm for the plastic bottle with printed label and the other for the red-capped bottle.",
+    "Pick up the pair the plastic bottle with printed label and the plastic drink bottle together.",
+    "Assign one arm to the plastic bottle for liquids and one to the long thin bottle.",
+    "Use each arm to secure one of the plastic bottle with printed label and the bottle with ridges on bottom.",
+    "Hold the bottle with brown body and white top in one arm and the red-capped bottle in the other.",
+    "Raise both bottles at once: the medium plastic bottle and the medium dark brown bottle.",
+    "Raise the bottle with brown body and white top with one arm and the hand-sized soda bottle with the other.",
+    "Take hold of the medium bottle with smooth texture and the Coca-Cola bottle at once.",
+    "Use separate arms to lift the bottle with dark brown color and the bottle with ridges on bottom.",
+    "Grasp the cylindrical bottle with narrow neck as the other arm grasps the dark drink bottle with logo.",
+    "Reach for the bottle with dark brown color and the narrow-necked bottle with both arms at once.",
+    "Pick up both the white-capped brown cylindrical bottle and the medium dark brown bottle using separate arms.",
+    "Grab the white-capped brown cylindrical bottle and the bottle with white neck and red top at the same time.",
+    "Grasp the different bottles the bottle with dark brown color and the bottle with white neck and red top simultaneously.",
+    "Take the medium plastic bottle and the bottle with ridges on bottom together, one per arm.",
+    "Hold both the rounded bottle with printed details and the bottle with ridges on bottom, one in each arm.",
+    "Lift both different bottles, the medium plastic bottle and the hand-sized soda bottle, together.",
+    "Each arm should grab one bottle: the white-capped brown cylindrical bottle and the brown bottle with red label.",
+    "Raise the smooth brown bottle and the bottle with ridges on bottom at the same time.",
+    "Pick up the rounded bottle with printed details and the medium dark brown bottle simultaneously.",
+    "Lift the smooth brown bottle and the narrow-necked bottle together with both arms.",
+    "Pick the bottle with white cap and the dark drink bottle with logo up in parallel.",
+    "Lift the cylindrical bottle with narrow neck and the bottle with white neck and red top in one synchronized motion.",
+    "Pick the bottle with white cap while the other arm picks the medium dark brown bottle.",
+    "Catch the white-capped brown cylindrical bottle and the plastic drink bottle together.",
+    "Grab both bottles in parallel, the smooth brown bottle and the bottle with white neck and red top.",
+    "Use both arms to grasp the handheld brown bottle with white lid and the medium dark brown bottle together.",
+    "Simultaneously grasp and lift the bottle with white cap and the plastic drink bottle.",
+    "Secure both the handheld brown bottle with white lid and the Coca-Cola bottle simultaneously.",
+    "Use both arms simultaneously for the plastic bottle for liquids and the medium dark brown bottle.",
+    "Use one arm for the plastic bottle with printed label and the other for the brown bottle with red label.",
+    "Pick up the pair the medium bottle with smooth texture and the medium dark brown bottle together.",
+    "Assign one arm to the handheld brown bottle with white lid and one to the smooth bottle with red lid.",
+    "Use each arm to secure one of the smooth brown bottle and the red-capped bottle.",
+    "Hold the bottle with dark brown color in one arm and the Coca-Cola bottle in the other.",
+    "Raise both bottles at once: the bottle with brown body and white top and the Coca-Cola bottle.",
+    "Raise the rounded bottle with printed details with one arm and the Coca-Cola bottle with the other.",
+    "Take hold of the bottle with dark brown color and the Coca-Cola bottle at once.",
+    "Use separate arms to lift the handheld brown bottle with white lid and the brown bottle with red label.",
+    "Grasp the rounded bottle with printed details as the other arm grasps the plastic drink bottle.",
+    "Reach for the handheld brown bottle with white lid and the bottle with ridges on bottom with both arms at once.",
+    "Pick up both the plastic bottle with printed label and the red-capped bottle using separate arms.",
+    "Grab the medium bottle with smooth texture and the bottle with white neck and red top at the same time.",
+    "Grasp the different bottles the white-capped brown cylindrical bottle and the Coca-Cola bottle simultaneously.",
+    "Take the white-capped brown cylindrical bottle and the red-capped bottle together, one per arm.",
+    "Hold both the medium bottle with smooth texture and the smooth bottle with red lid, one in each arm.",
+    "Lift both different bottles, the bottle with dark brown color and the brown bottle with red label, together.",
+    "Each arm should grab one bottle: the white-capped brown cylindrical bottle and the medium dark brown bottle.",
+    "Raise the plastic bottle for liquids and the dark drink bottle with logo at the same time.",
+    "Pick up the cylindrical bottle with narrow neck and the red-capped bottle simultaneously.",
+    "Lift the medium plastic bottle and the smooth bottle with red lid together with both arms.",
+    "Pick the handheld brown bottle with white lid and the plastic drink bottle up in parallel.",
+    "Lift the plastic bottle for liquids and the brown bottle with red label in one synchronized motion.",
+    "Pick the smooth brown bottle while the other arm picks the red-capped bottle.",
+    "Catch the white-capped brown cylindrical bottle and the long thin bottle together.",
+    "Grab both bottles in parallel, the bottle with brown body and white top and the red-capped bottle.",
+    "Use both arms to grasp the plastic bottle with printed label and the brown bottle with red label together.",
+    "Simultaneously grasp and lift the medium plastic bottle and the dark drink bottle with logo.",
+    "Secure both the plastic bottle for liquids and the brown bottle with red label simultaneously.",
+    "Use both arms simultaneously for the bottle with dark brown color and the medium dark brown bottle.",
+    "Use one arm for the bottle with dark brown color and the other for the smooth bottle with red lid.",
+    "Pick up the pair the plastic bottle for liquids and the Coca-Cola bottle together.",
+    "Assign one arm to the handheld brown bottle with white lid and one to the narrow-necked bottle.",
+    "Use each arm to secure one of the plastic bottle with printed label and the dark drink bottle with logo.",
+    "Hold the cylindrical bottle with narrow neck in one arm and the plastic drink bottle in the other.",
+    "Raise both bottles at once: the handheld brown bottle with white lid and the bottle with ridges on bottom.",
+    "Raise the rounded bottle with printed details with one arm and the plastic drink bottle with the other.",
+    "Take hold of the bottle with white cap and the medium dark brown bottle at once.",
+    "Use separate arms to lift the medium plastic bottle and the long thin bottle.",
+    "Grasp the plastic bottle with printed label as the other arm grasps the long thin bottle.",
+    "Reach for the white-capped brown cylindrical bottle and the long thin bottle with both arms at once.",
+    "Pick up both the bottle with brown body and white top and the bottle with white neck and red top using separate arms.",
+    "Grab the bottle with white cap and the plastic drink bottle at the same time.",
+    "Grasp the different bottles the smooth brown bottle and the Coca-Cola bottle simultaneously.",
+    "Take the medium bottle with smooth texture and the medium dark brown bottle together, one per arm.",
+    "Hold both the handheld brown bottle with white lid and the red-capped bottle, one in each arm.",
+    "Lift both different bottles, the handheld brown bottle with white lid and the smooth bottle with red lid, together.",
+    "Each arm should grab one bottle: the medium plastic bottle and the narrow-necked bottle.",
+    "Raise the bottle with brown body and white top and the medium dark brown bottle at the same time.",
+    "Pick up the medium plastic bottle and the smooth bottle with red lid simultaneously.",
+    "Lift the medium plastic bottle and the brown bottle with red label together with both arms.",
+    "Pick the plastic bottle with printed label and the hand-sized soda bottle up in parallel.",
+    "Lift the white-capped brown cylindrical bottle and the smooth bottle with red lid in one synchronized motion.",
+    "Pick the plastic bottle for liquids while the other arm picks the narrow-necked bottle.",
+    "Catch the cylindrical bottle with narrow neck and the plastic drink bottle together.",
+    "Grab both bottles in parallel, the plastic bottle for liquids and the red-capped bottle.",
+    "Use both arms to grasp the smooth brown bottle and the narrow-necked bottle together.",
+    "Simultaneously grasp and lift the smooth brown bottle and the bottle with white neck and red top.",
+    "Secure both the smooth brown bottle and the bottle with white neck and red top simultaneously.",
+    "Use both arms simultaneously for the medium bottle with smooth texture and the long thin bottle.",
+    "Use one arm for the plastic bottle for liquids and the other for the narrow-necked bottle.",
+    "Pick up the pair the white-capped brown cylindrical bottle and the medium dark brown bottle together.",
+    "Assign one arm to the bottle with dark brown color and one to the bottle with ridges on bottom.",
+    "Use each arm to secure one of the white-capped brown cylindrical bottle and the narrow-necked bottle.",
+    "Hold the smooth brown bottle in one arm and the plastic drink bottle in the other."
+  ],
+  "unseen": [
+    "Use each arm to grab one of the brown cylindrical bottle with label and the brown bottle.",
+    "Lift the lightweight plastic brown bottle and the plastic soda bottle simultaneously with separate arms.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the plastic soda bottle.",
+    "Take hold of the lightweight plastic brown bottle and the plastic soda bottle at once.",
+    "Pick up both the brown bottle and the plastic soda bottle together.",
+    "Pick up the brown cylindrical bottle with label and the brown bottle in parallel.",
+    "Grasp the brown bottle and the plastic soda bottle simultaneously.",
+    "Grab the brown bottle and the brown bottle at the same time.",
+    "Lift the brown bottle as the other arm lifts the bottle with red screw cap.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the bottle with red screw cap, together.",
+    "Use each arm to grab one of the brown bottle and the plastic soda bottle.",
+    "Lift the brown bottle and the plastic soda bottle simultaneously with separate arms.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the brown bottle.",
+    "Take hold of the brown bottle and the plastic soda bottle at once.",
+    "Pick up both the brown bottle and the brown bottle together.",
+    "Pick up the brown bottle and the brown bottle in parallel.",
+    "Grasp the brown bottle and the brown bottle simultaneously.",
+    "Grab the lightweight plastic brown bottle and the plastic soda bottle at the same time.",
+    "Lift the brown bottle as the other arm lifts the brown bottle.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the plastic soda bottle, together.",
+    "Use each arm to grab one of the brown bottle and the plastic soda bottle.",
+    "Lift the lightweight plastic brown bottle and the plastic soda bottle simultaneously with separate arms.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the plastic soda bottle.",
+    "Take hold of the lightweight plastic brown bottle and the plastic soda bottle at once.",
+    "Pick up both the brown cylindrical bottle with label and the plastic soda bottle together.",
+    "Pick up the brown cylindrical bottle with label and the plastic soda bottle in parallel.",
+    "Grasp the brown bottle and the bottle with red screw cap simultaneously.",
+    "Grab the brown cylindrical bottle with label and the brown bottle at the same time.",
+    "Lift the brown cylindrical bottle with label as the other arm lifts the plastic soda bottle.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the bottle with red screw cap, together.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the brown bottle.",
+    "Lift the brown cylindrical bottle with label and the plastic soda bottle simultaneously with separate arms.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the bottle with red screw cap.",
+    "Take hold of the lightweight plastic brown bottle and the brown bottle at once.",
+    "Pick up both the brown cylindrical bottle with label and the plastic soda bottle together.",
+    "Pick up the brown cylindrical bottle with label and the bottle with red screw cap in parallel.",
+    "Grasp the brown bottle and the brown bottle simultaneously.",
+    "Grab the brown cylindrical bottle with label and the plastic soda bottle at the same time.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the plastic soda bottle.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the bottle with red screw cap, together.",
+    "Use each arm to grab one of the brown bottle and the bottle with red screw cap.",
+    "Lift the lightweight plastic brown bottle and the brown bottle simultaneously with separate arms.",
+    "Use one arm for the brown bottle and the other for the brown bottle.",
+    "Take hold of the brown bottle and the brown bottle at once.",
+    "Pick up both the lightweight plastic brown bottle and the bottle with red screw cap together.",
+    "Pick up the brown bottle and the brown bottle in parallel.",
+    "Grasp the brown cylindrical bottle with label and the plastic soda bottle simultaneously.",
+    "Grab the lightweight plastic brown bottle and the plastic soda bottle at the same time.",
+    "Lift the brown cylindrical bottle with label as the other arm lifts the plastic soda bottle.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the plastic soda bottle, together.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the brown bottle.",
+    "Lift the brown cylindrical bottle with label and the brown bottle simultaneously with separate arms.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the brown bottle.",
+    "Take hold of the lightweight plastic brown bottle and the plastic soda bottle at once.",
+    "Pick up both the brown cylindrical bottle with label and the bottle with red screw cap together.",
+    "Pick up the brown bottle and the plastic soda bottle in parallel.",
+    "Grasp the brown bottle and the bottle with red screw cap simultaneously.",
+    "Grab the brown bottle and the plastic soda bottle at the same time.",
+    "Lift the brown bottle as the other arm lifts the bottle with red screw cap.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the plastic soda bottle, together.",
+    "Use each arm to grab one of the brown bottle and the plastic soda bottle.",
+    "Lift the lightweight plastic brown bottle and the brown bottle simultaneously with separate arms.",
+    "Use one arm for the brown bottle and the other for the plastic soda bottle.",
+    "Take hold of the lightweight plastic brown bottle and the brown bottle at once.",
+    "Pick up both the lightweight plastic brown bottle and the brown bottle together.",
+    "Pick up the brown cylindrical bottle with label and the brown bottle in parallel.",
+    "Grasp the brown bottle and the plastic soda bottle simultaneously.",
+    "Grab the lightweight plastic brown bottle and the bottle with red screw cap at the same time.",
+    "Lift the brown bottle as the other arm lifts the plastic soda bottle.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the plastic soda bottle, together.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the plastic soda bottle.",
+    "Lift the lightweight plastic brown bottle and the bottle with red screw cap simultaneously with separate arms.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the bottle with red screw cap.",
+    "Take hold of the lightweight plastic brown bottle and the plastic soda bottle at once.",
+    "Pick up both the lightweight plastic brown bottle and the plastic soda bottle together.",
+    "Pick up the brown cylindrical bottle with label and the plastic soda bottle in parallel.",
+    "Grasp the lightweight plastic brown bottle and the brown bottle simultaneously.",
+    "Grab the brown bottle and the plastic soda bottle at the same time.",
+    "Lift the brown cylindrical bottle with label as the other arm lifts the plastic soda bottle.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the brown bottle, together.",
+    "Use each arm to grab one of the brown bottle and the plastic soda bottle.",
+    "Lift the lightweight plastic brown bottle and the brown bottle simultaneously with separate arms.",
+    "Use one arm for the brown bottle and the other for the plastic soda bottle.",
+    "Take hold of the lightweight plastic brown bottle and the bottle with red screw cap at once.",
+    "Pick up both the brown cylindrical bottle with label and the plastic soda bottle together.",
+    "Pick up the lightweight plastic brown bottle and the bottle with red screw cap in parallel.",
+    "Grasp the lightweight plastic brown bottle and the brown bottle simultaneously.",
+    "Grab the brown bottle and the brown bottle at the same time.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the plastic soda bottle.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the brown bottle, together.",
+    "Use each arm to grab one of the brown bottle and the plastic soda bottle.",
+    "Lift the brown cylindrical bottle with label and the plastic soda bottle simultaneously with separate arms.",
+    "Use one arm for the brown bottle and the other for the bottle with red screw cap.",
+    "Take hold of the brown bottle and the brown bottle at once.",
+    "Pick up both the brown bottle and the brown bottle together.",
+    "Pick up the brown cylindrical bottle with label and the plastic soda bottle in parallel.",
+    "Grasp the lightweight plastic brown bottle and the plastic soda bottle simultaneously.",
+    "Grab the lightweight plastic brown bottle and the bottle with red screw cap at the same time.",
+    "Lift the brown bottle as the other arm lifts the brown bottle.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the bottle with red screw cap, together."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000034.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..c59f07dbe8d7905c658e4addce75fa33e06ca0a8
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000034.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Each arm should grab one bottle: the brown bottle and the medium-sized bottle.",
+    "Take hold of the smooth brown and white patterned bottle and the white bottle with blue accents at once.",
+    "Reach for the brown bottle and the plastic bottle with both arms at once.",
+    "Pick up both the white-capped bottle and the plastic bottle using separate arms.",
+    "Pick the bottle holding liquid while the other arm picks the blue bottle with label.",
+    "Grasp the bottle with brown and white patterns as the other arm grasps the handheld bottle.",
+    "Use one arm for the plastic bottle and the other for the medium bottle for beverages.",
+    "Hold both the bottle with black label and the bottle with blue cap, one in each arm.",
+    "Raise both bottles at once: the bottle with white screw cap and the plastic bottle.",
+    "Raise the bottle with black label and the medium bottle for beverages at the same time.",
+    "Lift the plastic bottle and the white bottle with blue accents in one synchronized motion.",
+    "Grab both bottles in parallel, the brown bottle and the plastic bottle.",
+    "Raise the small curved plastic bottle with one arm and the blue bottle with label with the other.",
+    "Use each arm to secure one of the small bottle with decorative design and the handheld bottle.",
+    "Pick up the small bottle with decorative design and the cylindrical bottle simultaneously.",
+    "Secure both the curved bottle with white top and the white and blue bottle simultaneously.",
+    "Use separate arms to lift the brown bottle and the bottle for liquids.",
+    "Lift the smooth brown and white patterned bottle and the handheld bottle together with both arms.",
+    "Hold the small curved plastic bottle in one arm and the bottle with blue cap in the other.",
+    "Assign one arm to the small curved plastic bottle and one to the blue bottle with label.",
+    "Use both arms simultaneously for the bottle with white screw cap and the handheld bottle.",
+    "Use both arms to grasp the smooth brown and white patterned bottle and the medium bottle for beverages together.",
+    "Take the smooth brown and white patterned bottle and the handheld bottle together, one per arm.",
+    "Grab the curved bottle with white top and the smooth plastic bottle at the same time.",
+    "Pick the bottle with black label and the blue bottle with label up in parallel.",
+    "Pick up the pair the small curved plastic bottle and the plastic bottle together.",
+    "Simultaneously grasp and lift the curved bottle with white top and the medium-sized bottle.",
+    "Grasp the different bottles the bottle with brown and white patterns and the medium-sized bottle simultaneously.",
+    "Lift both different bottles, the bottle with white screw cap and the smooth plastic bottle, together.",
+    "Catch the bottle holding liquid and the white bottle with blue accents together.",
+    "Each arm should grab one bottle: the small bottle with decorative design and the bottle with blue cap.",
+    "Take hold of the small curved plastic bottle and the bottle with blue cap at once.",
+    "Reach for the brown bottle and the medium bottle for beverages with both arms at once.",
+    "Pick up both the bottle with black label and the smooth plastic bottle using separate arms.",
+    "Pick the bottle with brown and white patterns while the other arm picks the medium-sized bottle.",
+    "Grasp the small curved plastic bottle as the other arm grasps the cylindrical bottle.",
+    "Use one arm for the bottle with white screw cap and the other for the medium bottle for beverages.",
+    "Hold both the small bottle with decorative design and the plastic bottle, one in each arm.",
+    "Raise both bottles at once: the brown bottle and the blue bottle.",
+    "Raise the plastic bottle and the bottle with blue cap at the same time.",
+    "Lift the brown bottle and the cylindrical bottle in one synchronized motion.",
+    "Grab both bottles in parallel, the curved bottle with white top and the plastic bottle.",
+    "Raise the smooth brown and white patterned bottle with one arm and the medium bottle for beverages with the other.",
+    "Use each arm to secure one of the smooth brown and white patterned bottle and the white and blue bottle.",
+    "Pick up the curved bottle with white top and the white bottle with blue accents simultaneously.",
+    "Secure both the small curved plastic bottle and the blue bottle with label simultaneously.",
+    "Use separate arms to lift the hand-sized plastic bottle and the bottle with blue cap.",
+    "Lift the hand-sized plastic bottle and the handheld bottle together with both arms.",
+    "Hold the brown bottle in one arm and the blue bottle with label in the other.",
+    "Assign one arm to the hand-sized plastic bottle and one to the blue bottle.",
+    "Use both arms simultaneously for the hand-sized plastic bottle and the medium bottle for beverages.",
+    "Use both arms to grasp the bottle with brown and white patterns and the white bottle with blue accents together.",
+    "Take the small curved plastic bottle and the handheld bottle together, one per arm.",
+    "Grab the bottle holding liquid and the cylindrical bottle at the same time.",
+    "Pick the bottle with white screw cap and the cylindrical bottle up in parallel.",
+    "Pick up the pair the hand-sized plastic bottle and the medium-sized bottle together.",
+    "Simultaneously grasp and lift the bottle with white screw cap and the plastic bottle.",
+    "Grasp the different bottles the plastic bottle and the smooth plastic bottle simultaneously.",
+    "Lift both different bottles, the plastic bottle and the handheld bottle, together.",
+    "Catch the plastic bottle and the white and blue bottle together.",
+    "Each arm should grab one bottle: the bottle with black label and the handheld bottle.",
+    "Take hold of the brown bottle and the white and blue bottle at once.",
+    "Reach for the plastic bottle and the white bottle with blue accents with both arms at once.",
+    "Pick up both the small bottle with decorative design and the white bottle with blue accents using separate arms.",
+    "Pick the brown bottle while the other arm picks the blue bottle.",
+    "Grasp the bottle with white screw cap as the other arm grasps the medium-sized bottle.",
+    "Use one arm for the bottle with white screw cap and the other for the bottle for liquids.",
+    "Hold both the bottle holding liquid and the cylindrical bottle, one in each arm.",
+    "Raise both bottles at once: the small bottle with decorative design and the handheld bottle.",
+    "Raise the brown bottle and the medium-sized bottle at the same time.",
+    "Lift the plastic bottle and the blue bottle in one synchronized motion.",
+    "Grab both bottles in parallel, the bottle with white screw cap and the medium-sized bottle.",
+    "Raise the white-capped bottle with one arm and the handheld bottle with the other.",
+    "Use each arm to secure one of the plastic bottle and the white and blue bottle.",
+    "Pick up the brown bottle and the medium bottle for beverages simultaneously.",
+    "Secure both the small curved plastic bottle and the bottle for liquids simultaneously.",
+    "Use separate arms to lift the smooth brown and white patterned bottle and the smooth plastic bottle.",
+    "Lift the hand-sized plastic bottle and the cylindrical bottle together with both arms.",
+    "Hold the plastic bottle in one arm and the bottle for liquids in the other.",
+    "Assign one arm to the small bottle with decorative design and one to the medium bottle for beverages.",
+    "Use both arms simultaneously for the bottle with brown and white patterns and the white bottle with blue accents.",
+    "Use both arms to grasp the hand-sized plastic bottle and the plastic bottle together.",
+    "Take the bottle holding liquid and the blue bottle with label together, one per arm.",
+    "Grab the plastic bottle and the blue bottle with label at the same time.",
+    "Pick the bottle with white screw cap and the handheld bottle up in parallel.",
+    "Pick up the pair the curved bottle with white top and the smooth plastic bottle together.",
+    "Simultaneously grasp and lift the bottle with black label and the white bottle with blue accents.",
+    "Grasp the different bottles the bottle holding liquid and the white and blue bottle simultaneously.",
+    "Lift both different bottles, the bottle with black label and the bottle for liquids, together.",
+    "Catch the bottle holding liquid and the plastic bottle together.",
+    "Each arm should grab one bottle: the white-capped bottle and the handheld bottle.",
+    "Take hold of the hand-sized plastic bottle and the white and blue bottle at once.",
+    "Reach for the bottle with white screw cap and the medium-sized bottle with both arms at once.",
+    "Pick up both the brown bottle and the white and blue bottle using separate arms.",
+    "Pick the bottle with brown and white patterns while the other arm picks the bottle for liquids.",
+    "Grasp the small curved plastic bottle as the other arm grasps the white bottle with blue accents.",
+    "Use one arm for the small bottle with decorative design and the other for the medium-sized bottle.",
+    "Hold both the bottle holding liquid and the bottle for liquids, one in each arm.",
+    "Raise both bottles at once: the bottle with white screw cap and the blue bottle.",
+    "Raise the bottle holding liquid and the medium bottle for beverages at the same time."
+  ],
+  "unseen": [
+    "Use one arm for the brown bottle with glossy swirls and the other for the bottle with curved neck design.",
+    "Grab the brown bottle with glossy swirls and the blue-capped plastic bottle at the same time.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with ridged neck in parallel.",
+    "Take hold of the glossy brown bottle and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the cylindrical bottle with curved sides and the bottle with curved neck design.",
+    "Lift the brown bottle with glossy swirls as the other arm lifts the bottle with curved neck design.",
+    "Grasp the brown bottle with glossy swirls and the bottle with ridged neck simultaneously.",
+    "Pick up both the glossy brown bottle and the blue-capped plastic bottle together.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the blue-capped plastic bottle, together.",
+    "Lift the brown bottle with glossy swirls and the bottle with ridged neck simultaneously with separate arms.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the bottle with curved neck design.",
+    "Grab the cylindrical bottle with curved sides and the bottle with ridged neck at the same time.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with ridged neck in parallel.",
+    "Take hold of the glossy brown bottle and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the glossy brown bottle and the bottle with curved neck design.",
+    "Lift the glossy brown bottle as the other arm lifts the blue-capped plastic bottle.",
+    "Grasp the glossy brown bottle and the bottle with curved neck design simultaneously.",
+    "Pick up both the glossy brown bottle and the blue-capped plastic bottle together.",
+    "Raise both different bottles, the brown bottle with glossy swirls and the blue-capped plastic bottle, together.",
+    "Lift the brown bottle with glossy swirls and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the bottle with ridged neck.",
+    "Grab the brown bottle with glossy swirls and the bottle with curved neck design at the same time.",
+    "Pick up the brown bottle with glossy swirls and the bottle with curved neck design in parallel.",
+    "Take hold of the glossy brown bottle and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the glossy brown bottle and the blue-capped plastic bottle.",
+    "Lift the glossy brown bottle as the other arm lifts the bottle with ridged neck.",
+    "Grasp the brown bottle with glossy swirls and the bottle with ridged neck simultaneously.",
+    "Pick up both the brown bottle with glossy swirls and the bottle with ridged neck together.",
+    "Raise both different bottles, the brown bottle with glossy swirls and the bottle with curved neck design, together.",
+    "Lift the brown bottle with glossy swirls and the bottle with curved neck design simultaneously with separate arms.",
+    "Use one arm for the glossy brown bottle and the other for the bottle with curved neck design.",
+    "Grab the glossy brown bottle and the bottle with ridged neck at the same time.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with ridged neck in parallel.",
+    "Take hold of the cylindrical bottle with curved sides and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the brown bottle with glossy swirls and the blue-capped plastic bottle.",
+    "Lift the glossy brown bottle as the other arm lifts the bottle with curved neck design.",
+    "Grasp the cylindrical bottle with curved sides and the bottle with curved neck design simultaneously.",
+    "Pick up both the brown bottle with glossy swirls and the blue-capped plastic bottle together.",
+    "Raise both different bottles, the glossy brown bottle and the blue-capped plastic bottle, together.",
+    "Lift the glossy brown bottle and the bottle with ridged neck simultaneously with separate arms.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the blue-capped plastic bottle.",
+    "Grab the brown bottle with glossy swirls and the blue-capped plastic bottle at the same time.",
+    "Pick up the brown bottle with glossy swirls and the bottle with ridged neck in parallel.",
+    "Take hold of the cylindrical bottle with curved sides and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the cylindrical bottle with curved sides and the bottle with ridged neck.",
+    "Lift the cylindrical bottle with curved sides as the other arm lifts the blue-capped plastic bottle.",
+    "Grasp the cylindrical bottle with curved sides and the bottle with curved neck design simultaneously.",
+    "Pick up both the brown bottle with glossy swirls and the bottle with curved neck design together.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the blue-capped plastic bottle, together.",
+    "Lift the brown bottle with glossy swirls and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use one arm for the cylindrical bottle with curved sides and the other for the bottle with ridged neck.",
+    "Grab the glossy brown bottle and the blue-capped plastic bottle at the same time.",
+    "Pick up the brown bottle with glossy swirls and the blue-capped plastic bottle in parallel.",
+    "Take hold of the brown bottle with glossy swirls and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the glossy brown bottle and the bottle with curved neck design.",
+    "Lift the glossy brown bottle as the other arm lifts the bottle with ridged neck.",
+    "Grasp the brown bottle with glossy swirls and the bottle with ridged neck simultaneously.",
+    "Pick up both the cylindrical bottle with curved sides and the bottle with ridged neck together.",
+    "Raise both different bottles, the brown bottle with glossy swirls and the bottle with ridged neck, together.",
+    "Lift the glossy brown bottle and the bottle with curved neck design simultaneously with separate arms.",
+    "Use one arm for the glossy brown bottle and the other for the bottle with curved neck design.",
+    "Grab the glossy brown bottle and the bottle with curved neck design at the same time.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with ridged neck in parallel.",
+    "Take hold of the brown bottle with glossy swirls and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the cylindrical bottle with curved sides and the blue-capped plastic bottle.",
+    "Lift the glossy brown bottle as the other arm lifts the bottle with ridged neck.",
+    "Grasp the glossy brown bottle and the bottle with ridged neck simultaneously.",
+    "Pick up both the glossy brown bottle and the bottle with curved neck design together.",
+    "Raise both different bottles, the brown bottle with glossy swirls and the bottle with curved neck design, together.",
+    "Lift the brown bottle with glossy swirls and the bottle with ridged neck simultaneously with separate arms.",
+    "Use one arm for the cylindrical bottle with curved sides and the other for the bottle with ridged neck.",
+    "Grab the glossy brown bottle and the bottle with curved neck design at the same time.",
+    "Pick up the glossy brown bottle and the blue-capped plastic bottle in parallel.",
+    "Take hold of the brown bottle with glossy swirls and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the glossy brown bottle and the blue-capped plastic bottle.",
+    "Lift the glossy brown bottle as the other arm lifts the bottle with curved neck design.",
+    "Grasp the cylindrical bottle with curved sides and the bottle with curved neck design simultaneously.",
+    "Pick up both the cylindrical bottle with curved sides and the bottle with curved neck design together.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the bottle with ridged neck, together.",
+    "Lift the brown bottle with glossy swirls and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the bottle with curved neck design.",
+    "Grab the glossy brown bottle and the blue-capped plastic bottle at the same time.",
+    "Pick up the cylindrical bottle with curved sides and the bottle with ridged neck in parallel.",
+    "Take hold of the brown bottle with glossy swirls and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the cylindrical bottle with curved sides and the bottle with ridged neck.",
+    "Lift the cylindrical bottle with curved sides as the other arm lifts the blue-capped plastic bottle.",
+    "Grasp the glossy brown bottle and the bottle with curved neck design simultaneously.",
+    "Pick up both the cylindrical bottle with curved sides and the blue-capped plastic bottle together.",
+    "Raise both different bottles, the brown bottle with glossy swirls and the bottle with ridged neck, together.",
+    "Lift the glossy brown bottle and the bottle with curved neck design simultaneously with separate arms.",
+    "Use one arm for the brown bottle with glossy swirls and the other for the bottle with curved neck design.",
+    "Grab the glossy brown bottle and the bottle with ridged neck at the same time.",
+    "Pick up the brown bottle with glossy swirls and the bottle with ridged neck in parallel.",
+    "Take hold of the glossy brown bottle and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the glossy brown bottle and the blue-capped plastic bottle.",
+    "Lift the cylindrical bottle with curved sides as the other arm lifts the blue-capped plastic bottle.",
+    "Grasp the cylindrical bottle with curved sides and the bottle with ridged neck simultaneously.",
+    "Pick up both the cylindrical bottle with curved sides and the blue-capped plastic bottle together.",
+    "Raise both different bottles, the cylindrical bottle with curved sides and the bottle with ridged neck, together.",
+    "Lift the glossy brown bottle and the bottle with ridged neck simultaneously with separate arms."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000035.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf8f831529fac4d097397423dd3798601bcd459c
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000035.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the different bottles the cylindrical orange bottle with smooth surface and the orange bottle simultaneously.",
+    "Grab the yellow-capped bottle for beverages and the small bottle with bright yellow lid at the same time.",
+    "Simultaneously grasp and lift the smooth orange cylindrical bottle and the bottle with yellow cap.",
+    "Grasp the rounded bottom orange plastic bottle as the other arm grasps the handheld medium-sized liquid bottle.",
+    "Each arm should grab one bottle: the yellow-capped bottle for beverages and the bottle with yellow cap.",
+    "Use both arms to grasp the cylindrical orange bottle with smooth surface and the bottle with yellow cap together.",
+    "Secure both the orange bottle and the liquid container with orange body simultaneously.",
+    "Take the rounded orange bottle with yellow top and the rounded orange bottle with yellow top together, one per arm.",
+    "Hold the smooth orange cylindrical bottle in one arm and the bottle with yellow cap in the other.",
+    "Raise the bottle with yellow cap with one arm and the yellow-capped orange plastic bottle with the other.",
+    "Take hold of the smooth orange cylindrical bottle and the rounded orange bottle with yellow top at once.",
+    "Lift the orange bottle and the handheld medium-sized liquid bottle together with both arms.",
+    "Grab both bottles in parallel, the smooth orange cylindrical bottle and the liquid container with orange body.",
+    "Pick up the orange bottle and the orange bottle with bold labeling simultaneously.",
+    "Lift the orange bottle with bold labeling and the orange bottle with bold labeling in one synchronized motion.",
+    "Pick up the pair the handheld medium-sized liquid bottle and the orange bottle together.",
+    "Raise both bottles at once: the small bottle with bright yellow lid and the small bottle with bright yellow lid.",
+    "Pick the small bottle with bright yellow lid while the other arm picks the yellow-capped bottle for beverages.",
+    "Lift both different bottles, the orange bottle with bold labeling and the cylindrical orange bottle with smooth surface, together.",
+    "Use one arm for the rounded orange bottle with yellow top and the other for the liquid container with orange body.",
+    "Reach for the bottle with yellow cap and the small bottle with bright yellow lid with both arms at once.",
+    "Hold both the smooth orange cylindrical bottle and the orange bottle, one in each arm.",
+    "Catch the rounded orange bottle with yellow top and the small bottle with bright yellow lid together.",
+    "Pick the rounded bottom orange plastic bottle and the orange bottle with bold labeling up in parallel.",
+    "Assign one arm to the orange bottle and one to the cylindrical orange bottle with smooth surface.",
+    "Use separate arms to lift the bottle with yellow cap and the smooth orange cylindrical bottle.",
+    "Use each arm to secure one of the bottle with yellow cap and the yellow-capped orange plastic bottle.",
+    "Pick up both the yellow-capped bottle for beverages and the bottle with yellow cap using separate arms.",
+    "Raise the cylindrical orange bottle with smooth surface and the yellow-capped bottle for beverages at the same time.",
+    "Use both arms simultaneously for the orange bottle with bold labeling and the rounded orange bottle with yellow top.",
+    "Grasp the different bottles the smooth orange cylindrical bottle and the rounded orange bottle with yellow top simultaneously.",
+    "Grab the bottle with yellow cap and the small bottle with bright yellow lid at the same time.",
+    "Simultaneously grasp and lift the cylindrical orange bottle with smooth surface and the yellow-capped orange plastic bottle.",
+    "Grasp the yellow-capped orange plastic bottle as the other arm grasps the orange bottle with bold labeling.",
+    "Each arm should grab one bottle: the cylindrical orange bottle with smooth surface and the liquid container with orange body.",
+    "Use both arms to grasp the handheld medium-sized liquid bottle and the rounded bottom orange plastic bottle together.",
+    "Secure both the rounded bottom orange plastic bottle and the bottle with yellow cap simultaneously.",
+    "Take the handheld medium-sized liquid bottle and the orange bottle together, one per arm.",
+    "Hold the orange bottle with bold labeling in one arm and the yellow-capped orange plastic bottle in the other.",
+    "Raise the orange bottle with bold labeling with one arm and the small bottle with bright yellow lid with the other.",
+    "Take hold of the cylindrical orange bottle with smooth surface and the handheld medium-sized liquid bottle at once.",
+    "Lift the rounded orange bottle with yellow top and the rounded bottom orange plastic bottle together with both arms.",
+    "Grab both bottles in parallel, the smooth orange cylindrical bottle and the rounded orange bottle with yellow top.",
+    "Pick up the smooth orange cylindrical bottle and the yellow-capped bottle for beverages simultaneously.",
+    "Lift the liquid container with orange body and the cylindrical orange bottle with smooth surface in one synchronized motion.",
+    "Pick up the pair the smooth orange cylindrical bottle and the handheld medium-sized liquid bottle together.",
+    "Raise both bottles at once: the yellow-capped bottle for beverages and the cylindrical orange bottle with smooth surface.",
+    "Pick the orange bottle with bold labeling while the other arm picks the yellow-capped bottle for beverages.",
+    "Lift both different bottles, the yellow-capped orange plastic bottle and the liquid container with orange body, together.",
+    "Use one arm for the handheld medium-sized liquid bottle and the other for the rounded orange bottle with yellow top.",
+    "Reach for the yellow-capped orange plastic bottle and the bottle with yellow cap with both arms at once.",
+    "Hold both the rounded orange bottle with yellow top and the smooth orange cylindrical bottle, one in each arm.",
+    "Catch the yellow-capped bottle for beverages and the liquid container with orange body together.",
+    "Pick the orange bottle with bold labeling and the rounded orange bottle with yellow top up in parallel.",
+    "Assign one arm to the rounded bottom orange plastic bottle and one to the small bottle with bright yellow lid.",
+    "Use separate arms to lift the orange bottle with bold labeling and the smooth orange cylindrical bottle.",
+    "Use each arm to secure one of the smooth orange cylindrical bottle and the yellow-capped orange plastic bottle.",
+    "Pick up both the yellow-capped orange plastic bottle and the rounded orange bottle with yellow top using separate arms.",
+    "Raise the handheld medium-sized liquid bottle and the rounded bottom orange plastic bottle at the same time.",
+    "Use both arms simultaneously for the smooth orange cylindrical bottle and the rounded orange bottle with yellow top.",
+    "Grasp the different bottles the bottle with yellow cap and the rounded bottom orange plastic bottle simultaneously.",
+    "Grab the small bottle with bright yellow lid and the handheld medium-sized liquid bottle at the same time.",
+    "Simultaneously grasp and lift the orange bottle with bold labeling and the cylindrical orange bottle with smooth surface.",
+    "Grasp the smooth orange cylindrical bottle as the other arm grasps the small bottle with bright yellow lid.",
+    "Each arm should grab one bottle: the small bottle with bright yellow lid and the handheld medium-sized liquid bottle.",
+    "Use both arms to grasp the liquid container with orange body and the yellow-capped orange plastic bottle together.",
+    "Secure both the yellow-capped orange plastic bottle and the rounded orange bottle with yellow top simultaneously.",
+    "Take the small bottle with bright yellow lid and the rounded bottom orange plastic bottle together, one per arm.",
+    "Hold the orange bottle in one arm and the orange bottle in the other.",
+    "Raise the small bottle with bright yellow lid with one arm and the rounded orange bottle with yellow top with the other.",
+    "Take hold of the rounded orange bottle with yellow top and the cylindrical orange bottle with smooth surface at once.",
+    "Lift the rounded orange bottle with yellow top and the yellow-capped orange plastic bottle together with both arms.",
+    "Grab both bottles in parallel, the small bottle with bright yellow lid and the rounded orange bottle with yellow top.",
+    "Pick up the rounded bottom orange plastic bottle and the smooth orange cylindrical bottle simultaneously.",
+    "Lift the rounded bottom orange plastic bottle and the rounded orange bottle with yellow top in one synchronized motion.",
+    "Pick up the pair the rounded bottom orange plastic bottle and the small bottle with bright yellow lid together.",
+    "Raise both bottles at once: the handheld medium-sized liquid bottle and the bottle with yellow cap.",
+    "Pick the handheld medium-sized liquid bottle while the other arm picks the smooth orange cylindrical bottle.",
+    "Lift both different bottles, the bottle with yellow cap and the yellow-capped orange plastic bottle, together.",
+    "Use one arm for the handheld medium-sized liquid bottle and the other for the cylindrical orange bottle with smooth surface.",
+    "Reach for the liquid container with orange body and the liquid container with orange body with both arms at once.",
+    "Hold both the cylindrical orange bottle with smooth surface and the yellow-capped bottle for beverages, one in each arm.",
+    "Catch the liquid container with orange body and the bottle with yellow cap together.",
+    "Pick the rounded bottom orange plastic bottle and the rounded bottom orange plastic bottle up in parallel.",
+    "Assign one arm to the liquid container with orange body and one to the rounded bottom orange plastic bottle.",
+    "Use separate arms to lift the rounded orange bottle with yellow top and the liquid container with orange body.",
+    "Use each arm to secure one of the yellow-capped orange plastic bottle and the liquid container with orange body.",
+    "Pick up both the rounded bottom orange plastic bottle and the liquid container with orange body using separate arms.",
+    "Raise the rounded orange bottle with yellow top and the yellow-capped orange plastic bottle at the same time.",
+    "Use both arms simultaneously for the orange bottle with bold labeling and the yellow-capped bottle for beverages.",
+    "Grasp the different bottles the smooth orange cylindrical bottle and the rounded bottom orange plastic bottle simultaneously.",
+    "Grab the rounded bottom orange plastic bottle and the orange bottle with bold labeling at the same time.",
+    "Simultaneously grasp and lift the yellow-capped bottle for beverages and the orange bottle.",
+    "Grasp the yellow-capped orange plastic bottle as the other arm grasps the handheld medium-sized liquid bottle.",
+    "Each arm should grab one bottle: the yellow-capped bottle for beverages and the rounded orange bottle with yellow top.",
+    "Use both arms to grasp the bottle with yellow cap and the orange bottle with bold labeling together.",
+    "Secure both the orange bottle with bold labeling and the cylindrical orange bottle with smooth surface simultaneously.",
+    "Take the rounded orange bottle with yellow top and the handheld medium-sized liquid bottle together, one per arm.",
+    "Hold the smooth orange cylindrical bottle in one arm and the orange bottle in the other.",
+    "Raise the handheld medium-sized liquid bottle with one arm and the cylindrical orange bottle with smooth surface with the other."
+  ],
+  "unseen": [
+    "Raise both different bottles, the medium bottle for liquids and the medium plastic bottle, together.",
+    "Pick up both the medium bottle for liquids and the plastic orange bottle with rounded base together.",
+    "Lift the plastic orange bottle with rounded base and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Lift the plastic orange bottle with rounded base as the other arm lifts the medium plastic bottle.",
+    "Use each arm to grab one of the medium plastic bottle and the plastic orange bottle with rounded base.",
+    "Pick up the medium plastic bottle and the medium bottle for liquids in parallel.",
+    "Take hold of the medium bottle for liquids and the medium plastic bottle at once.",
+    "Grab the medium bottle for liquids and the medium bottle for liquids at the same time.",
+    "Grasp the plastic orange bottle with rounded base and the medium plastic bottle simultaneously.",
+    "Use one arm for the plastic orange bottle with rounded base and the other for the medium plastic bottle.",
+    "Raise both different bottles, the plastic orange bottle with rounded base and the medium bottle for liquids, together.",
+    "Pick up both the plastic orange bottle with rounded base and the medium plastic bottle together.",
+    "Lift the medium plastic bottle and the medium bottle for liquids simultaneously with separate arms.",
+    "Lift the medium bottle for liquids as the other arm lifts the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the medium plastic bottle and the medium bottle for liquids.",
+    "Pick up the plastic orange bottle with rounded base and the medium plastic bottle in parallel.",
+    "Take hold of the medium bottle for liquids and the medium bottle for liquids at once.",
+    "Grab the plastic orange bottle with rounded base and the plastic orange bottle with rounded base at the same time.",
+    "Grasp the medium bottle for liquids and the medium bottle for liquids simultaneously.",
+    "Use one arm for the medium bottle for liquids and the other for the medium bottle for liquids.",
+    "Raise both different bottles, the plastic orange bottle with rounded base and the medium bottle for liquids, together.",
+    "Pick up both the medium plastic bottle and the plastic orange bottle with rounded base together.",
+    "Lift the medium bottle for liquids and the medium plastic bottle simultaneously with separate arms.",
+    "Lift the medium bottle for liquids as the other arm lifts the medium bottle for liquids.",
+    "Use each arm to grab one of the plastic orange bottle with rounded base and the medium plastic bottle.",
+    "Pick up the medium bottle for liquids and the medium bottle for liquids in parallel.",
+    "Take hold of the medium bottle for liquids and the medium plastic bottle at once.",
+    "Grab the medium plastic bottle and the medium plastic bottle at the same time.",
+    "Grasp the medium bottle for liquids and the medium bottle for liquids simultaneously.",
+    "Use one arm for the medium plastic bottle and the other for the medium bottle for liquids.",
+    "Raise both different bottles, the plastic orange bottle with rounded base and the medium bottle for liquids, together.",
+    "Pick up both the plastic orange bottle with rounded base and the medium bottle for liquids together.",
+    "Lift the plastic orange bottle with rounded base and the medium plastic bottle simultaneously with separate arms.",
+    "Lift the medium plastic bottle as the other arm lifts the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the plastic orange bottle with rounded base and the plastic orange bottle with rounded base.",
+    "Pick up the plastic orange bottle with rounded base and the plastic orange bottle with rounded base in parallel.",
+    "Take hold of the plastic orange bottle with rounded base and the medium plastic bottle at once.",
+    "Grab the medium bottle for liquids and the medium bottle for liquids at the same time.",
+    "Grasp the medium bottle for liquids and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the medium plastic bottle and the other for the medium bottle for liquids.",
+    "Raise both different bottles, the medium bottle for liquids and the plastic orange bottle with rounded base, together.",
+    "Pick up both the medium plastic bottle and the medium bottle for liquids together.",
+    "Lift the medium bottle for liquids and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Lift the medium plastic bottle as the other arm lifts the medium bottle for liquids.",
+    "Use each arm to grab one of the medium bottle for liquids and the medium plastic bottle.",
+    "Pick up the medium plastic bottle and the medium bottle for liquids in parallel.",
+    "Take hold of the medium plastic bottle and the plastic orange bottle with rounded base at once.",
+    "Grab the medium plastic bottle and the medium bottle for liquids at the same time.",
+    "Grasp the plastic orange bottle with rounded base and the medium bottle for liquids simultaneously.",
+    "Use one arm for the medium bottle for liquids and the other for the medium bottle for liquids.",
+    "Raise both different bottles, the medium bottle for liquids and the plastic orange bottle with rounded base, together.",
+    "Pick up both the medium plastic bottle and the medium bottle for liquids together.",
+    "Lift the medium plastic bottle and the medium plastic bottle simultaneously with separate arms.",
+    "Lift the plastic orange bottle with rounded base as the other arm lifts the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the medium plastic bottle and the plastic orange bottle with rounded base.",
+    "Pick up the medium plastic bottle and the medium bottle for liquids in parallel.",
+    "Take hold of the medium plastic bottle and the medium bottle for liquids at once.",
+    "Grab the plastic orange bottle with rounded base and the medium plastic bottle at the same time.",
+    "Grasp the plastic orange bottle with rounded base and the plastic orange bottle with rounded base simultaneously.",
+    "Use one arm for the medium plastic bottle and the other for the medium plastic bottle.",
+    "Raise both different bottles, the medium bottle for liquids and the plastic orange bottle with rounded base, together.",
+    "Pick up both the medium plastic bottle and the medium bottle for liquids together.",
+    "Lift the medium bottle for liquids and the medium bottle for liquids simultaneously with separate arms.",
+    "Lift the medium plastic bottle as the other arm lifts the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the medium plastic bottle and the plastic orange bottle with rounded base.",
+    "Pick up the medium plastic bottle and the medium bottle for liquids in parallel.",
+    "Take hold of the plastic orange bottle with rounded base and the plastic orange bottle with rounded base at once.",
+    "Grab the medium plastic bottle and the medium bottle for liquids at the same time.",
+    "Grasp the medium bottle for liquids and the medium bottle for liquids simultaneously.",
+    "Use one arm for the medium plastic bottle and the other for the plastic orange bottle with rounded base.",
+    "Raise both different bottles, the plastic orange bottle with rounded base and the plastic orange bottle with rounded base, together.",
+    "Pick up both the medium bottle for liquids and the medium bottle for liquids together.",
+    "Lift the plastic orange bottle with rounded base and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Lift the plastic orange bottle with rounded base as the other arm lifts the medium plastic bottle.",
+    "Use each arm to grab one of the medium plastic bottle and the medium bottle for liquids.",
+    "Pick up the medium bottle for liquids and the medium plastic bottle in parallel.",
+    "Take hold of the medium plastic bottle and the medium bottle for liquids at once.",
+    "Grab the medium bottle for liquids and the medium bottle for liquids at the same time.",
+    "Grasp the medium bottle for liquids and the medium plastic bottle simultaneously.",
+    "Use one arm for the medium bottle for liquids and the other for the medium bottle for liquids.",
+    "Raise both different bottles, the medium plastic bottle and the medium plastic bottle, together.",
+    "Pick up both the medium plastic bottle and the plastic orange bottle with rounded base together.",
+    "Lift the medium plastic bottle and the medium bottle for liquids simultaneously with separate arms.",
+    "Lift the medium bottle for liquids as the other arm lifts the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the plastic orange bottle with rounded base and the medium plastic bottle.",
+    "Pick up the plastic orange bottle with rounded base and the plastic orange bottle with rounded base in parallel.",
+    "Take hold of the plastic orange bottle with rounded base and the plastic orange bottle with rounded base at once.",
+    "Grab the medium plastic bottle and the medium bottle for liquids at the same time.",
+    "Grasp the medium plastic bottle and the medium plastic bottle simultaneously.",
+    "Use one arm for the plastic orange bottle with rounded base and the other for the medium bottle for liquids.",
+    "Raise both different bottles, the medium bottle for liquids and the plastic orange bottle with rounded base, together.",
+    "Pick up both the plastic orange bottle with rounded base and the plastic orange bottle with rounded base together.",
+    "Lift the plastic orange bottle with rounded base and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Lift the medium bottle for liquids as the other arm lifts the medium plastic bottle.",
+    "Use each arm to grab one of the medium bottle for liquids and the plastic orange bottle with rounded base.",
+    "Pick up the plastic orange bottle with rounded base and the medium bottle for liquids in parallel.",
+    "Take hold of the medium plastic bottle and the medium plastic bottle at once.",
+    "Grab the plastic orange bottle with rounded base and the medium plastic bottle at the same time.",
+    "Grasp the medium plastic bottle and the medium plastic bottle simultaneously.",
+    "Use one arm for the medium bottle for liquids and the other for the medium bottle for liquids."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000036.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..03f7f9f1807b5ad9e70f6aa782774a896bc89eb3
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000036.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow bottle with flower design and the rounded bottom orange plastic bottle together, one per arm.",
+    "Raise the smooth yellow plastic bottle and the smooth orange cylindrical bottle at the same time.",
+    "Reach for the yellow bottle with flower design and the rounded orange bottle with yellow top with both arms at once.",
+    "Hold the plastic bottle in one arm and the rounded orange bottle with yellow top in the other.",
+    "Take hold of the bottle with white cap and the orange bottle at once.",
+    "Simultaneously grasp and lift the rectangular bottle and the bottle with yellow cap.",
+    "Pick up both the yellow bottle and the smooth orange cylindrical bottle using separate arms.",
+    "Each arm should grab one bottle: the yellow bottle with cylindrical cap and the smooth orange cylindrical bottle.",
+    "Lift the yellow bottle with flower design and the yellow-capped orange plastic bottle together with both arms.",
+    "Grasp the different bottles the bottle with white cap and the cylindrical orange bottle with smooth surface simultaneously.",
+    "Pick up the yellow bottle with flower design and the handheld medium-sized liquid bottle simultaneously.",
+    "Catch the plastic bottle and the handheld medium-sized liquid bottle together.",
+    "Grab both bottles in parallel, the yellow bottle and the yellow-capped bottle for beverages.",
+    "Pick up the pair the bottle with green and white label and the yellow-capped orange plastic bottle together.",
+    "Assign one arm to the rectangular bottle and one to the small bottle with bright yellow lid.",
+    "Pick the smooth yellow plastic bottle while the other arm picks the small bottle with bright yellow lid.",
+    "Use one arm for the rectangular bottle and the other for the liquid container with orange body.",
+    "Lift the yellow body bottle and the bottle with yellow cap in one synchronized motion.",
+    "Raise the smooth yellow plastic bottle with one arm and the cylindrical orange bottle with smooth surface with the other.",
+    "Raise both bottles at once: the handheld bottle and the orange bottle with bold labeling.",
+    "Use both arms to grasp the rectangular bottle and the yellow-capped bottle for beverages together.",
+    "Secure both the yellow bottle and the yellow-capped bottle for beverages simultaneously.",
+    "Use both arms simultaneously for the handheld bottle and the smooth orange cylindrical bottle.",
+    "Grasp the bottle with green and white label as the other arm grasps the rounded orange bottle with yellow top.",
+    "Grab the bottle with white cap and the rounded bottom orange plastic bottle at the same time.",
+    "Use separate arms to lift the yellow bottle with flower design and the rounded orange bottle with yellow top.",
+    "Use each arm to secure one of the yellow bottle with flower design and the smooth orange cylindrical bottle.",
+    "Pick the rectangular bottle and the orange bottle with bold labeling up in parallel.",
+    "Hold both the yellow bottle with green label and the rounded orange bottle with yellow top, one in each arm.",
+    "Lift both different bottles, the yellow bottle with flower design and the bottle with yellow cap, together.",
+    "Take the plastic bottle and the bottle with yellow cap together, one per arm.",
+    "Raise the yellow bottle with green label and the orange bottle at the same time.",
+    "Reach for the yellow body bottle and the orange bottle with bold labeling with both arms at once.",
+    "Hold the yellow bottle with flower design in one arm and the cylindrical orange bottle with smooth surface in the other.",
+    "Take hold of the bottle with green and white label and the rounded bottom orange plastic bottle at once.",
+    "Simultaneously grasp and lift the yellow bottle with green label and the yellow-capped bottle for beverages.",
+    "Pick up both the yellow body bottle and the smooth orange cylindrical bottle using separate arms.",
+    "Each arm should grab one bottle: the smooth yellow plastic bottle and the small bottle with bright yellow lid.",
+    "Lift the bottle with green and white label and the orange bottle with bold labeling together with both arms.",
+    "Grasp the different bottles the rectangular bottle and the rounded bottom orange plastic bottle simultaneously.",
+    "Pick up the yellow bottle and the orange bottle simultaneously.",
+    "Catch the handheld bottle and the smooth orange cylindrical bottle together.",
+    "Grab both bottles in parallel, the bottle for liquids and the cylindrical orange bottle with smooth surface.",
+    "Pick up the pair the smooth yellow plastic bottle and the cylindrical orange bottle with smooth surface together.",
+    "Assign one arm to the bottle with white cap and one to the smooth orange cylindrical bottle.",
+    "Pick the bottle for liquids while the other arm picks the smooth orange cylindrical bottle.",
+    "Use one arm for the bottle with white cap and the other for the yellow-capped bottle for beverages.",
+    "Lift the plastic bottle and the liquid container with orange body in one synchronized motion.",
+    "Raise the yellow bottle with green label with one arm and the bottle with yellow cap with the other.",
+    "Raise both bottles at once: the handheld bottle and the rounded orange bottle with yellow top.",
+    "Use both arms to grasp the yellow bottle with green label and the small bottle with bright yellow lid together.",
+    "Secure both the yellow bottle and the bottle with yellow cap simultaneously.",
+    "Use both arms simultaneously for the yellow bottle with green label and the smooth orange cylindrical bottle.",
+    "Grasp the smooth yellow plastic bottle as the other arm grasps the yellow-capped orange plastic bottle.",
+    "Grab the yellow bottle with flower design and the liquid container with orange body at the same time.",
+    "Use separate arms to lift the yellow body bottle and the handheld medium-sized liquid bottle.",
+    "Use each arm to secure one of the smooth yellow plastic bottle and the orange bottle with bold labeling.",
+    "Pick the bottle for liquids and the yellow-capped bottle for beverages up in parallel.",
+    "Hold both the yellow bottle with cylindrical cap and the orange bottle with bold labeling, one in each arm.",
+    "Lift both different bottles, the smooth yellow plastic bottle and the yellow-capped bottle for beverages, together.",
+    "Take the yellow bottle with green label and the orange bottle with bold labeling together, one per arm.",
+    "Raise the yellow bottle with cylindrical cap and the liquid container with orange body at the same time.",
+    "Reach for the yellow body bottle and the small bottle with bright yellow lid with both arms at once.",
+    "Hold the bottle with green and white label in one arm and the yellow-capped bottle for beverages in the other.",
+    "Take hold of the bottle for liquids and the rounded bottom orange plastic bottle at once.",
+    "Simultaneously grasp and lift the bottle with white cap and the handheld medium-sized liquid bottle.",
+    "Pick up both the yellow bottle and the cylindrical orange bottle with smooth surface using separate arms.",
+    "Each arm should grab one bottle: the handheld bottle and the rounded bottom orange plastic bottle.",
+    "Lift the smooth yellow plastic bottle and the liquid container with orange body together with both arms.",
+    "Grasp the different bottles the bottle with green and white label and the handheld medium-sized liquid bottle simultaneously.",
+    "Pick up the plastic bottle and the yellow-capped orange plastic bottle simultaneously.",
+    "Catch the bottle with green and white label and the orange bottle with bold labeling together.",
+    "Grab both bottles in parallel, the yellow bottle and the liquid container with orange body.",
+    "Pick up the pair the smooth yellow plastic bottle and the liquid container with orange body together.",
+    "Assign one arm to the smooth yellow plastic bottle and one to the rounded bottom orange plastic bottle.",
+    "Pick the bottle with green and white label while the other arm picks the orange bottle with bold labeling.",
+    "Use one arm for the bottle with green and white label and the other for the liquid container with orange body.",
+    "Lift the plastic bottle and the orange bottle with bold labeling in one synchronized motion.",
+    "Raise the yellow bottle with one arm and the cylindrical orange bottle with smooth surface with the other.",
+    "Raise both bottles at once: the yellow bottle and the cylindrical orange bottle with smooth surface.",
+    "Use both arms to grasp the bottle for liquids and the small bottle with bright yellow lid together.",
+    "Secure both the rectangular bottle and the orange bottle simultaneously.",
+    "Use both arms simultaneously for the smooth yellow plastic bottle and the handheld medium-sized liquid bottle.",
+    "Grasp the yellow bottle with flower design as the other arm grasps the liquid container with orange body.",
+    "Grab the plastic bottle and the rounded orange bottle with yellow top at the same time.",
+    "Use separate arms to lift the handheld bottle and the orange bottle with bold labeling.",
+    "Use each arm to secure one of the yellow body bottle and the yellow-capped bottle for beverages.",
+    "Pick the yellow bottle with cylindrical cap and the rounded orange bottle with yellow top up in parallel.",
+    "Hold both the yellow bottle and the liquid container with orange body, one in each arm.",
+    "Lift both different bottles, the yellow bottle with cylindrical cap and the rounded bottom orange plastic bottle, together.",
+    "Take the yellow bottle with green label and the liquid container with orange body together, one per arm.",
+    "Raise the handheld bottle and the handheld medium-sized liquid bottle at the same time.",
+    "Reach for the yellow body bottle and the liquid container with orange body with both arms at once.",
+    "Hold the bottle with green and white label in one arm and the handheld medium-sized liquid bottle in the other.",
+    "Take hold of the yellow body bottle and the yellow-capped bottle for beverages at once.",
+    "Simultaneously grasp and lift the bottle for liquids and the small bottle with bright yellow lid.",
+    "Pick up both the yellow bottle and the orange bottle using separate arms.",
+    "Each arm should grab one bottle: the rectangular bottle and the rounded bottom orange plastic bottle.",
+    "Lift the yellow body bottle and the yellow-capped orange plastic bottle together with both arms.",
+    "Grasp the different bottles the yellow bottle with flower design and the handheld medium-sized liquid bottle simultaneously."
+  ],
+  "unseen": [
+    "Use each arm to grab one of the bottle with rounded edges and the medium plastic bottle.",
+    "Pick up the bottle with rounded edges and the medium bottle for liquids in parallel.",
+    "Grab the medium bottle and the medium plastic bottle at the same time.",
+    "Lift the bottle with rounded edges as the other arm lifts the medium bottle for liquids.",
+    "Grasp the medium bottle and the medium bottle for liquids simultaneously.",
+    "Take hold of the bottle with rounded edges and the plastic orange bottle with rounded base at once.",
+    "Lift the medium bottle and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with printed label and the plastic orange bottle with rounded base, together.",
+    "Pick up both the bottle with printed label and the medium plastic bottle together.",
+    "Use one arm for the medium bottle and the other for the medium plastic bottle.",
+    "Use each arm to grab one of the bottle with rounded edges and the medium plastic bottle.",
+    "Pick up the medium bottle and the medium plastic bottle in parallel.",
+    "Grab the bottle with rounded edges and the plastic orange bottle with rounded base at the same time.",
+    "Lift the medium bottle as the other arm lifts the medium bottle for liquids.",
+    "Grasp the bottle with printed label and the medium bottle for liquids simultaneously.",
+    "Take hold of the bottle with rounded edges and the medium bottle for liquids at once.",
+    "Lift the bottle with rounded edges and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with rounded edges and the plastic orange bottle with rounded base, together.",
+    "Pick up both the bottle with rounded edges and the medium bottle for liquids together.",
+    "Use one arm for the bottle with printed label and the other for the medium bottle for liquids.",
+    "Use each arm to grab one of the medium bottle and the medium bottle for liquids.",
+    "Pick up the medium bottle and the medium bottle for liquids in parallel.",
+    "Grab the bottle with rounded edges and the medium plastic bottle at the same time.",
+    "Lift the bottle with printed label as the other arm lifts the medium bottle for liquids.",
+    "Grasp the bottle with rounded edges and the medium bottle for liquids simultaneously.",
+    "Take hold of the medium bottle and the medium plastic bottle at once.",
+    "Lift the bottle with rounded edges and the medium bottle for liquids simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with printed label and the medium bottle for liquids, together.",
+    "Pick up both the medium bottle and the medium plastic bottle together.",
+    "Use one arm for the bottle with rounded edges and the other for the medium plastic bottle.",
+    "Use each arm to grab one of the medium bottle and the medium plastic bottle.",
+    "Pick up the medium bottle and the medium bottle for liquids in parallel.",
+    "Grab the medium bottle and the medium plastic bottle at the same time.",
+    "Lift the medium bottle as the other arm lifts the plastic orange bottle with rounded base.",
+    "Grasp the bottle with printed label and the plastic orange bottle with rounded base simultaneously.",
+    "Take hold of the medium bottle and the plastic orange bottle with rounded base at once.",
+    "Lift the bottle with rounded edges and the medium bottle for liquids simultaneously with separate arms.",
+    "Raise both different bottles, the medium bottle and the medium bottle for liquids, together.",
+    "Pick up both the bottle with printed label and the medium bottle for liquids together.",
+    "Use one arm for the medium bottle and the other for the medium bottle for liquids.",
+    "Use each arm to grab one of the bottle with rounded edges and the medium plastic bottle.",
+    "Pick up the bottle with rounded edges and the medium plastic bottle in parallel.",
+    "Grab the bottle with rounded edges and the medium bottle for liquids at the same time.",
+    "Lift the medium bottle as the other arm lifts the medium bottle for liquids.",
+    "Grasp the bottle with rounded edges and the medium plastic bottle simultaneously.",
+    "Take hold of the bottle with rounded edges and the medium bottle for liquids at once.",
+    "Lift the bottle with rounded edges and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with rounded edges and the plastic orange bottle with rounded base, together.",
+    "Pick up both the bottle with printed label and the plastic orange bottle with rounded base together.",
+    "Use one arm for the bottle with printed label and the other for the medium bottle for liquids.",
+    "Use each arm to grab one of the bottle with rounded edges and the medium plastic bottle.",
+    "Pick up the bottle with rounded edges and the medium bottle for liquids in parallel.",
+    "Grab the medium bottle and the medium bottle for liquids at the same time.",
+    "Lift the medium bottle as the other arm lifts the plastic orange bottle with rounded base.",
+    "Grasp the bottle with printed label and the medium bottle for liquids simultaneously.",
+    "Take hold of the bottle with rounded edges and the plastic orange bottle with rounded base at once.",
+    "Lift the bottle with printed label and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with rounded edges and the medium plastic bottle, together.",
+    "Pick up both the medium bottle and the medium plastic bottle together.",
+    "Use one arm for the medium bottle and the other for the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the bottle with rounded edges and the medium plastic bottle.",
+    "Pick up the bottle with rounded edges and the plastic orange bottle with rounded base in parallel.",
+    "Grab the medium bottle and the plastic orange bottle with rounded base at the same time.",
+    "Lift the medium bottle as the other arm lifts the plastic orange bottle with rounded base.",
+    "Grasp the medium bottle and the medium plastic bottle simultaneously.",
+    "Take hold of the bottle with rounded edges and the plastic orange bottle with rounded base at once.",
+    "Lift the medium bottle and the medium bottle for liquids simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with printed label and the medium plastic bottle, together.",
+    "Pick up both the bottle with printed label and the medium bottle for liquids together.",
+    "Use one arm for the medium bottle and the other for the medium plastic bottle.",
+    "Use each arm to grab one of the bottle with printed label and the plastic orange bottle with rounded base.",
+    "Pick up the bottle with printed label and the medium plastic bottle in parallel.",
+    "Grab the bottle with printed label and the medium bottle for liquids at the same time.",
+    "Lift the medium bottle as the other arm lifts the medium bottle for liquids.",
+    "Grasp the medium bottle and the medium bottle for liquids simultaneously.",
+    "Take hold of the bottle with printed label and the plastic orange bottle with rounded base at once.",
+    "Lift the bottle with rounded edges and the medium bottle for liquids simultaneously with separate arms.",
+    "Raise both different bottles, the medium bottle and the plastic orange bottle with rounded base, together.",
+    "Pick up both the bottle with printed label and the medium plastic bottle together.",
+    "Use one arm for the bottle with rounded edges and the other for the medium plastic bottle.",
+    "Use each arm to grab one of the medium bottle and the plastic orange bottle with rounded base.",
+    "Pick up the bottle with printed label and the medium plastic bottle in parallel.",
+    "Grab the bottle with rounded edges and the medium plastic bottle at the same time.",
+    "Lift the medium bottle as the other arm lifts the medium bottle for liquids.",
+    "Grasp the medium bottle and the medium plastic bottle simultaneously.",
+    "Take hold of the medium bottle and the plastic orange bottle with rounded base at once.",
+    "Lift the bottle with rounded edges and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with rounded edges and the medium bottle for liquids, together.",
+    "Pick up both the medium bottle and the medium bottle for liquids together.",
+    "Use one arm for the bottle with printed label and the other for the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the bottle with rounded edges and the medium plastic bottle.",
+    "Pick up the medium bottle and the plastic orange bottle with rounded base in parallel.",
+    "Grab the bottle with printed label and the medium bottle for liquids at the same time.",
+    "Lift the bottle with printed label as the other arm lifts the medium plastic bottle.",
+    "Grasp the bottle with rounded edges and the plastic orange bottle with rounded base simultaneously.",
+    "Take hold of the bottle with printed label and the plastic orange bottle with rounded base at once.",
+    "Lift the bottle with printed label and the medium bottle for liquids simultaneously with separate arms.",
+    "Raise both different bottles, the medium bottle and the plastic orange bottle with rounded base, together.",
+    "Pick up both the medium bottle and the medium plastic bottle together.",
+    "Use one arm for the bottle with rounded edges and the other for the medium plastic bottle."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000037.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50504b0df530f535efab594b42b4b99a72b7fe0
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000037.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the blue bottle with label and the narrow-necked bottle up in parallel.",
+    "Hold the cylindrical bottle in one arm and the long thin bottle in the other.",
+    "Raise the bottle for liquids and the narrow-necked bottle at the same time.",
+    "Assign one arm to the handheld bottle and one to the medium dark brown bottle.",
+    "Raise both bottles at once: the smooth plastic bottle and the smooth bottle with red lid.",
+    "Grasp the plastic bottle as the other arm grasps the long thin bottle.",
+    "Pick the cylindrical bottle while the other arm picks the medium dark brown bottle.",
+    "Grab the white bottle with blue accents and the long thin bottle at the same time.",
+    "Reach for the white bottle with blue accents and the plastic drink bottle with both arms at once.",
+    "Use both arms simultaneously for the blue bottle with label and the plastic drink bottle.",
+    "Lift the bottle with blue cap and the Coca-Cola bottle together with both arms.",
+    "Simultaneously grasp and lift the white and blue bottle and the long thin bottle.",
+    "Grasp the different bottles the blue bottle and the medium dark brown bottle simultaneously.",
+    "Use both arms to grasp the medium-sized bottle and the brown bottle with red label together.",
+    "Secure both the white and blue bottle and the plastic drink bottle simultaneously.",
+    "Take the bottle with blue cap and the smooth bottle with red lid together, one per arm.",
+    "Hold both the plastic bottle and the narrow-necked bottle, one in each arm.",
+    "Take hold of the white and blue bottle and the plastic drink bottle at once.",
+    "Use one arm for the blue bottle and the other for the long thin bottle.",
+    "Pick up both the medium bottle for beverages and the Coca-Cola bottle using separate arms.",
+    "Pick up the medium-sized bottle and the plastic drink bottle simultaneously.",
+    "Grab both bottles in parallel, the plastic bottle and the smooth bottle with red lid.",
+    "Pick up the pair the plastic bottle and the hand-sized soda bottle together.",
+    "Each arm should grab one bottle: the medium-sized bottle and the bottle with white neck and red top.",
+    "Lift both different bottles, the plastic bottle and the narrow-necked bottle, together.",
+    "Catch the smooth plastic bottle and the red-capped bottle together.",
+    "Use each arm to secure one of the bottle with blue cap and the dark drink bottle with logo.",
+    "Lift the bottle with blue cap and the hand-sized soda bottle in one synchronized motion.",
+    "Use separate arms to lift the white bottle with blue accents and the red-capped bottle.",
+    "Raise the smooth plastic bottle with one arm and the bottle with ridges on bottom with the other.",
+    "Pick the blue bottle with label and the plastic drink bottle up in parallel.",
+    "Hold the blue bottle in one arm and the bottle with ridges on bottom in the other.",
+    "Raise the medium-sized bottle and the Coca-Cola bottle at the same time.",
+    "Assign one arm to the plastic bottle and one to the Coca-Cola bottle.",
+    "Raise both bottles at once: the medium-sized bottle and the medium dark brown bottle.",
+    "Grasp the white and blue bottle as the other arm grasps the Coca-Cola bottle.",
+    "Pick the cylindrical bottle while the other arm picks the Coca-Cola bottle.",
+    "Grab the medium-sized bottle and the dark drink bottle with logo at the same time.",
+    "Reach for the medium-sized bottle and the Coca-Cola bottle with both arms at once.",
+    "Use both arms simultaneously for the blue bottle and the dark drink bottle with logo.",
+    "Lift the handheld bottle and the red-capped bottle together with both arms.",
+    "Simultaneously grasp and lift the white bottle with blue accents and the bottle with white neck and red top.",
+    "Grasp the different bottles the plastic bottle and the Coca-Cola bottle simultaneously.",
+    "Use both arms to grasp the bottle for liquids and the narrow-necked bottle together.",
+    "Secure both the blue bottle and the medium dark brown bottle simultaneously.",
+    "Take the bottle for liquids and the smooth bottle with red lid together, one per arm.",
+    "Hold both the bottle with blue cap and the bottle with ridges on bottom, one in each arm.",
+    "Take hold of the bottle for liquids and the long thin bottle at once.",
+    "Use one arm for the bottle for liquids and the other for the dark drink bottle with logo.",
+    "Pick up both the smooth plastic bottle and the Coca-Cola bottle using separate arms.",
+    "Pick up the handheld bottle and the dark drink bottle with logo simultaneously.",
+    "Grab both bottles in parallel, the white bottle with blue accents and the Coca-Cola bottle.",
+    "Pick up the pair the handheld bottle and the narrow-necked bottle together.",
+    "Each arm should grab one bottle: the blue bottle with label and the brown bottle with red label.",
+    "Lift both different bottles, the medium-sized bottle and the dark drink bottle with logo, together.",
+    "Catch the bottle with blue cap and the narrow-necked bottle together.",
+    "Use each arm to secure one of the medium bottle for beverages and the narrow-necked bottle.",
+    "Lift the smooth plastic bottle and the bottle with white neck and red top in one synchronized motion.",
+    "Use separate arms to lift the bottle with blue cap and the brown bottle with red label.",
+    "Raise the medium bottle for beverages with one arm and the medium dark brown bottle with the other.",
+    "Pick the white and blue bottle and the Coca-Cola bottle up in parallel.",
+    "Hold the blue bottle with label in one arm and the dark drink bottle with logo in the other.",
+    "Raise the blue bottle with label and the bottle with ridges on bottom at the same time.",
+    "Assign one arm to the medium-sized bottle and one to the smooth bottle with red lid.",
+    "Raise both bottles at once: the bottle with blue cap and the bottle with white neck and red top.",
+    "Grasp the white and blue bottle as the other arm grasps the red-capped bottle.",
+    "Pick the medium bottle for beverages while the other arm picks the bottle with white neck and red top.",
+    "Grab the smooth plastic bottle and the bottle with white neck and red top at the same time.",
+    "Reach for the handheld bottle and the Coca-Cola bottle with both arms at once.",
+    "Use both arms simultaneously for the bottle with blue cap and the bottle with white neck and red top.",
+    "Lift the medium-sized bottle and the Coca-Cola bottle together with both arms.",
+    "Simultaneously grasp and lift the blue bottle with label and the plastic drink bottle.",
+    "Grasp the different bottles the smooth plastic bottle and the plastic drink bottle simultaneously.",
+    "Use both arms to grasp the white and blue bottle and the bottle with white neck and red top together.",
+    "Secure both the bottle with blue cap and the bottle with white neck and red top simultaneously.",
+    "Take the blue bottle with label and the Coca-Cola bottle together, one per arm.",
+    "Hold both the white and blue bottle and the long thin bottle, one in each arm.",
+    "Take hold of the blue bottle and the bottle with white neck and red top at once.",
+    "Use one arm for the blue bottle and the other for the smooth bottle with red lid.",
+    "Pick up both the white bottle with blue accents and the red-capped bottle using separate arms.",
+    "Pick up the plastic bottle and the plastic drink bottle simultaneously.",
+    "Grab both bottles in parallel, the medium-sized bottle and the Coca-Cola bottle.",
+    "Pick up the pair the medium bottle for beverages and the Coca-Cola bottle together.",
+    "Each arm should grab one bottle: the blue bottle with label and the smooth bottle with red lid.",
+    "Lift both different bottles, the blue bottle with label and the red-capped bottle, together.",
+    "Catch the white and blue bottle and the plastic drink bottle together.",
+    "Use each arm to secure one of the handheld bottle and the smooth bottle with red lid.",
+    "Lift the plastic bottle and the Coca-Cola bottle in one synchronized motion.",
+    "Use separate arms to lift the blue bottle with label and the medium dark brown bottle.",
+    "Raise the cylindrical bottle with one arm and the plastic drink bottle with the other.",
+    "Pick the medium-sized bottle and the red-capped bottle up in parallel.",
+    "Hold the bottle for liquids in one arm and the red-capped bottle in the other.",
+    "Raise the medium-sized bottle and the smooth bottle with red lid at the same time.",
+    "Assign one arm to the blue bottle and one to the Coca-Cola bottle.",
+    "Raise both bottles at once: the handheld bottle and the bottle with white neck and red top.",
+    "Grasp the cylindrical bottle as the other arm grasps the plastic drink bottle.",
+    "Pick the handheld bottle while the other arm picks the brown bottle with red label.",
+    "Grab the cylindrical bottle and the red-capped bottle at the same time.",
+    "Reach for the cylindrical bottle and the brown bottle with red label with both arms at once.",
+    "Use both arms simultaneously for the bottle for liquids and the red-capped bottle."
+  ],
+  "unseen": [
+    "Lift the blue-capped plastic bottle as the other arm lifts the bottle with red screw cap.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the brown bottle.",
+    "Pick up the blue-capped plastic bottle and the brown bottle in parallel.",
+    "Use one arm for the bottle with curved neck design and the other for the plastic soda bottle.",
+    "Grab the bottle with ridged neck and the bottle with red screw cap at the same time.",
+    "Take hold of the bottle with ridged neck and the plastic soda bottle at once.",
+    "Grasp the blue-capped plastic bottle and the plastic soda bottle simultaneously.",
+    "Raise both different bottles, the bottle with ridged neck and the brown bottle, together.",
+    "Lift the blue-capped plastic bottle and the bottle with red screw cap simultaneously with separate arms.",
+    "Pick up both the bottle with ridged neck and the bottle with red screw cap together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the bottle with red screw cap.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the brown bottle.",
+    "Pick up the bottle with curved neck design and the plastic soda bottle in parallel.",
+    "Use one arm for the bottle with curved neck design and the other for the bottle with red screw cap.",
+    "Grab the blue-capped plastic bottle and the plastic soda bottle at the same time.",
+    "Take hold of the blue-capped plastic bottle and the plastic soda bottle at once.",
+    "Grasp the blue-capped plastic bottle and the brown bottle simultaneously.",
+    "Raise both different bottles, the bottle with ridged neck and the brown bottle, together.",
+    "Lift the blue-capped plastic bottle and the bottle with red screw cap simultaneously with separate arms.",
+    "Pick up both the bottle with curved neck design and the bottle with red screw cap together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the bottle with red screw cap.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with red screw cap.",
+    "Pick up the bottle with curved neck design and the plastic soda bottle in parallel.",
+    "Use one arm for the bottle with curved neck design and the other for the plastic soda bottle.",
+    "Grab the blue-capped plastic bottle and the bottle with red screw cap at the same time.",
+    "Take hold of the bottle with curved neck design and the brown bottle at once.",
+    "Grasp the bottle with ridged neck and the brown bottle simultaneously.",
+    "Raise both different bottles, the blue-capped plastic bottle and the brown bottle, together.",
+    "Lift the bottle with curved neck design and the brown bottle simultaneously with separate arms.",
+    "Pick up both the bottle with curved neck design and the brown bottle together.",
+    "Lift the bottle with curved neck design as the other arm lifts the plastic soda bottle.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with red screw cap.",
+    "Pick up the bottle with curved neck design and the plastic soda bottle in parallel.",
+    "Use one arm for the bottle with ridged neck and the other for the brown bottle.",
+    "Grab the blue-capped plastic bottle and the bottle with red screw cap at the same time.",
+    "Take hold of the blue-capped plastic bottle and the bottle with red screw cap at once.",
+    "Grasp the bottle with curved neck design and the brown bottle simultaneously.",
+    "Raise both different bottles, the bottle with curved neck design and the plastic soda bottle, together.",
+    "Lift the blue-capped plastic bottle and the plastic soda bottle simultaneously with separate arms.",
+    "Pick up both the bottle with curved neck design and the plastic soda bottle together.",
+    "Lift the bottle with ridged neck as the other arm lifts the plastic soda bottle.",
+    "Use each arm to grab one of the bottle with ridged neck and the brown bottle.",
+    "Pick up the blue-capped plastic bottle and the plastic soda bottle in parallel.",
+    "Use one arm for the blue-capped plastic bottle and the other for the brown bottle.",
+    "Grab the bottle with curved neck design and the brown bottle at the same time.",
+    "Take hold of the bottle with ridged neck and the bottle with red screw cap at once.",
+    "Grasp the bottle with ridged neck and the brown bottle simultaneously.",
+    "Raise both different bottles, the blue-capped plastic bottle and the bottle with red screw cap, together.",
+    "Lift the bottle with curved neck design and the brown bottle simultaneously with separate arms.",
+    "Pick up both the blue-capped plastic bottle and the brown bottle together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the brown bottle.",
+    "Use each arm to grab one of the bottle with curved neck design and the plastic soda bottle.",
+    "Pick up the bottle with ridged neck and the bottle with red screw cap in parallel.",
+    "Use one arm for the blue-capped plastic bottle and the other for the brown bottle.",
+    "Grab the blue-capped plastic bottle and the bottle with red screw cap at the same time.",
+    "Take hold of the blue-capped plastic bottle and the plastic soda bottle at once.",
+    "Grasp the bottle with curved neck design and the bottle with red screw cap simultaneously.",
+    "Raise both different bottles, the bottle with curved neck design and the brown bottle, together.",
+    "Lift the bottle with curved neck design and the plastic soda bottle simultaneously with separate arms.",
+    "Pick up both the bottle with ridged neck and the brown bottle together.",
+    "Lift the bottle with ridged neck as the other arm lifts the plastic soda bottle.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the plastic soda bottle.",
+    "Pick up the bottle with ridged neck and the bottle with red screw cap in parallel.",
+    "Use one arm for the bottle with ridged neck and the other for the bottle with red screw cap.",
+    "Grab the bottle with curved neck design and the plastic soda bottle at the same time.",
+    "Take hold of the bottle with ridged neck and the brown bottle at once.",
+    "Grasp the blue-capped plastic bottle and the bottle with red screw cap simultaneously.",
+    "Raise both different bottles, the bottle with ridged neck and the plastic soda bottle, together.",
+    "Lift the bottle with curved neck design and the brown bottle simultaneously with separate arms.",
+    "Pick up both the blue-capped plastic bottle and the brown bottle together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the plastic soda bottle.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with red screw cap.",
+    "Pick up the bottle with curved neck design and the plastic soda bottle in parallel.",
+    "Use one arm for the bottle with curved neck design and the other for the plastic soda bottle.",
+    "Grab the blue-capped plastic bottle and the bottle with red screw cap at the same time.",
+    "Take hold of the bottle with ridged neck and the brown bottle at once.",
+    "Grasp the blue-capped plastic bottle and the bottle with red screw cap simultaneously.",
+    "Raise both different bottles, the bottle with ridged neck and the bottle with red screw cap, together.",
+    "Lift the bottle with curved neck design and the brown bottle simultaneously with separate arms.",
+    "Pick up both the blue-capped plastic bottle and the plastic soda bottle together.",
+    "Lift the bottle with curved neck design as the other arm lifts the bottle with red screw cap.",
+    "Use each arm to grab one of the bottle with curved neck design and the plastic soda bottle.",
+    "Pick up the blue-capped plastic bottle and the bottle with red screw cap in parallel.",
+    "Use one arm for the bottle with ridged neck and the other for the plastic soda bottle.",
+    "Grab the blue-capped plastic bottle and the bottle with red screw cap at the same time.",
+    "Take hold of the blue-capped plastic bottle and the brown bottle at once.",
+    "Grasp the blue-capped plastic bottle and the bottle with red screw cap simultaneously.",
+    "Raise both different bottles, the bottle with ridged neck and the bottle with red screw cap, together.",
+    "Lift the bottle with ridged neck and the brown bottle simultaneously with separate arms.",
+    "Pick up both the bottle with curved neck design and the plastic soda bottle together.",
+    "Lift the bottle with ridged neck as the other arm lifts the bottle with red screw cap.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with red screw cap.",
+    "Pick up the blue-capped plastic bottle and the plastic soda bottle in parallel.",
+    "Use one arm for the bottle with curved neck design and the other for the bottle with red screw cap.",
+    "Grab the bottle with curved neck design and the brown bottle at the same time.",
+    "Take hold of the bottle with ridged neck and the brown bottle at once.",
+    "Grasp the bottle with ridged neck and the plastic soda bottle simultaneously.",
+    "Raise both different bottles, the blue-capped plastic bottle and the plastic soda bottle, together.",
+    "Lift the bottle with curved neck design and the brown bottle simultaneously with separate arms.",
+    "Pick up both the bottle with ridged neck and the plastic soda bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000038.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ebed57afe0b7c15a0cd3184f73bb97f64357e2f
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000038.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simultaneously grasp and lift the handheld plastic bottle and the bottle with blue cap.",
+    "Use one arm for the red bottle and the other for the medium bottle for beverages.",
+    "Pick up the pair the plastic bottle and the blue bottle with label together.",
+    "Each arm should grab one bottle: the yellow text bottle and the cylindrical bottle.",
+    "Grab both bottles in parallel, the yellow text bottle and the blue bottle.",
+    "Assign one arm to the plastic bottle and one to the medium-sized bottle.",
+    "Hold the red bottle with screw cap in one arm and the medium bottle for beverages in the other.",
+    "Hold both the yellow text bottle and the blue bottle, one in each arm.",
+    "Pick the handheld plastic bottle while the other arm picks the bottle with blue cap.",
+    "Use separate arms to lift the red bottle with white bottom text and the handheld bottle.",
+    "Raise the red bottle with narrow neck and the medium-sized bottle at the same time.",
+    "Grab the red bottle with white bottom text and the blue bottle at the same time.",
+    "Pick the yellow text bottle and the medium bottle for beverages up in parallel.",
+    "Lift the plastic bottle and the bottle for liquids together with both arms.",
+    "Use each arm to secure one of the medium-size plastic bottle and the blue bottle.",
+    "Grasp the different bottles the plastic bottle and the medium-sized bottle simultaneously.",
+    "Raise both bottles at once: the plastic bottle and the plastic bottle.",
+    "Reach for the plastic bottle with bright red color and the white bottle with blue accents with both arms at once.",
+    "Lift the medium-size plastic bottle and the medium bottle for beverages in one synchronized motion.",
+    "Use both arms to grasp the medium-size plastic bottle and the cylindrical bottle together.",
+    "Catch the red bottle with narrow neck and the white and blue bottle together.",
+    "Take the red bottle and the cylindrical bottle together, one per arm.",
+    "Use both arms simultaneously for the red bottle with white bottom text and the white bottle with blue accents.",
+    "Raise the plastic bottle with one arm and the plastic bottle with the other.",
+    "Pick up the yellow text bottle and the bottle for liquids simultaneously.",
+    "Pick up both the red bottle with narrow neck and the medium bottle for beverages using separate arms.",
+    "Grasp the plastic bottle as the other arm grasps the plastic bottle.",
+    "Take hold of the smooth red cylindrical bottle and the blue bottle at once.",
+    "Secure both the red bottle with narrow neck and the smooth plastic bottle simultaneously.",
+    "Lift both different bottles, the red bottle with screw cap and the blue bottle, together.",
+    "Simultaneously grasp and lift the plastic bottle and the medium bottle for beverages.",
+    "Use one arm for the red bottle with screw cap and the other for the cylindrical bottle.",
+    "Pick up the pair the handheld plastic bottle and the blue bottle together.",
+    "Each arm should grab one bottle: the yellow text bottle and the white bottle with blue accents.",
+    "Grab both bottles in parallel, the bottle with red cap and the bottle for liquids.",
+    "Assign one arm to the red bottle and one to the bottle for liquids.",
+    "Hold the bottle with red cap in one arm and the bottle for liquids in the other.",
+    "Hold both the smooth red cylindrical bottle and the medium-sized bottle, one in each arm.",
+    "Pick the red bottle with curved grooves while the other arm picks the handheld bottle.",
+    "Use separate arms to lift the smooth red cylindrical bottle and the smooth plastic bottle.",
+    "Raise the bottle with red cap and the cylindrical bottle at the same time.",
+    "Grab the red bottle and the medium-sized bottle at the same time.",
+    "Pick the plastic bottle and the plastic bottle up in parallel.",
+    "Lift the red bottle with screw cap and the cylindrical bottle together with both arms.",
+    "Use each arm to secure one of the medium-size plastic bottle and the blue bottle with label.",
+    "Grasp the different bottles the red bottle with curved grooves and the blue bottle with label simultaneously.",
+    "Raise both bottles at once: the red bottle and the medium-sized bottle.",
+    "Reach for the handheld plastic bottle and the blue bottle with both arms at once.",
+    "Lift the plastic bottle and the cylindrical bottle in one synchronized motion.",
+    "Use both arms to grasp the medium-size plastic bottle and the plastic bottle together.",
+    "Catch the medium-size plastic bottle and the blue bottle together.",
+    "Take the red bottle with white bottom text and the plastic bottle together, one per arm.",
+    "Use both arms simultaneously for the handheld plastic bottle and the white and blue bottle.",
+    "Raise the red bottle with curved grooves with one arm and the plastic bottle with the other.",
+    "Pick up the bottle with red cap and the smooth plastic bottle simultaneously.",
+    "Pick up both the plastic bottle and the medium bottle for beverages using separate arms.",
+    "Grasp the bottle with red cap as the other arm grasps the white bottle with blue accents.",
+    "Take hold of the red bottle with white bottom text and the blue bottle with label at once.",
+    "Secure both the red bottle with narrow neck and the smooth plastic bottle simultaneously.",
+    "Lift both different bottles, the bottle with red cap and the white bottle with blue accents, together.",
+    "Simultaneously grasp and lift the red bottle with narrow neck and the smooth plastic bottle.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the white and blue bottle.",
+    "Pick up the pair the smooth red cylindrical bottle and the blue bottle together.",
+    "Each arm should grab one bottle: the handheld plastic bottle and the bottle with blue cap.",
+    "Grab both bottles in parallel, the handheld plastic bottle and the plastic bottle.",
+    "Assign one arm to the plastic bottle with bright red color and one to the handheld bottle.",
+    "Hold the medium-size plastic bottle in one arm and the bottle for liquids in the other.",
+    "Hold both the medium-size plastic bottle and the smooth plastic bottle, one in each arm.",
+    "Pick the red bottle with curved grooves while the other arm picks the white and blue bottle.",
+    "Use separate arms to lift the plastic bottle with bright red color and the white and blue bottle.",
+    "Raise the yellow text bottle and the cylindrical bottle at the same time.",
+    "Grab the plastic bottle with bright red color and the plastic bottle at the same time.",
+    "Pick the bottle with red cap and the smooth plastic bottle up in parallel.",
+    "Lift the smooth red cylindrical bottle and the bottle with blue cap together with both arms.",
+    "Use each arm to secure one of the red bottle with curved grooves and the blue bottle.",
+    "Grasp the different bottles the red bottle with narrow neck and the blue bottle simultaneously.",
+    "Raise both bottles at once: the medium-size plastic bottle and the white bottle with blue accents.",
+    "Reach for the medium-size plastic bottle and the cylindrical bottle with both arms at once.",
+    "Lift the red bottle with curved grooves and the bottle with blue cap in one synchronized motion.",
+    "Use both arms to grasp the medium-size plastic bottle and the white bottle with blue accents together.",
+    "Catch the smooth red cylindrical bottle and the cylindrical bottle together.",
+    "Take the bottle with red cap and the medium-sized bottle together, one per arm.",
+    "Use both arms simultaneously for the red bottle with curved grooves and the medium bottle for beverages.",
+    "Raise the bottle with red cap with one arm and the cylindrical bottle with the other.",
+    "Pick up the red bottle with narrow neck and the white bottle with blue accents simultaneously.",
+    "Pick up both the smooth red cylindrical bottle and the plastic bottle using separate arms.",
+    "Grasp the red bottle with screw cap as the other arm grasps the blue bottle.",
+    "Take hold of the bottle with red cap and the blue bottle at once.",
+    "Secure both the plastic bottle with bright red color and the white and blue bottle simultaneously.",
+    "Lift both different bottles, the red bottle and the handheld bottle, together.",
+    "Simultaneously grasp and lift the medium-size plastic bottle and the bottle for liquids.",
+    "Use one arm for the red bottle with white bottom text and the other for the handheld bottle.",
+    "Pick up the pair the red bottle and the cylindrical bottle together.",
+    "Each arm should grab one bottle: the plastic bottle with bright red color and the plastic bottle.",
+    "Grab both bottles in parallel, the yellow text bottle and the white and blue bottle.",
+    "Assign one arm to the plastic bottle with bright red color and one to the blue bottle with label.",
+    "Hold the red bottle with screw cap in one arm and the bottle for liquids in the other.",
+    "Hold both the bottle with red cap and the plastic bottle, one in each arm.",
+    "Pick the smooth red cylindrical bottle while the other arm picks the cylindrical bottle.",
+    "Use separate arms to lift the bottle with red cap and the white bottle with blue accents."
+  ],
+  "unseen": [
+    "Use one arm for the bottle with yellow Chinese characters and the other for the bottle with ridged neck.",
+    "Lift the bottle with white and yellow label as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up the shiny red bottle and the bottle with curved neck design in parallel.",
+    "Take hold of the bottle with white and yellow label and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the bottle with curved neck design.",
+    "Pick up both the bottle with yellow Chinese characters and the blue-capped plastic bottle together.",
+    "Lift the bottle with white and yellow label and the bottle with ridged neck simultaneously with separate arms.",
+    "Raise both different bottles, the shiny red bottle and the bottle with curved neck design, together.",
+    "Grasp the shiny red bottle and the bottle with ridged neck simultaneously.",
+    "Grab the bottle with yellow Chinese characters and the bottle with ridged neck at the same time.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the blue-capped plastic bottle.",
+    "Lift the bottle with white and yellow label as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up the bottle with yellow Chinese characters and the bottle with ridged neck in parallel.",
+    "Take hold of the shiny red bottle and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the bottle with curved neck design.",
+    "Pick up both the bottle with yellow Chinese characters and the blue-capped plastic bottle together.",
+    "Lift the shiny red bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Raise both different bottles, the shiny red bottle and the bottle with ridged neck, together.",
+    "Grasp the bottle with white and yellow label and the bottle with curved neck design simultaneously.",
+    "Grab the bottle with yellow Chinese characters and the blue-capped plastic bottle at the same time.",
+    "Use one arm for the shiny red bottle and the other for the bottle with ridged neck.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up the bottle with yellow Chinese characters and the bottle with curved neck design in parallel.",
+    "Take hold of the bottle with yellow Chinese characters and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with white and yellow label and the bottle with curved neck design.",
+    "Pick up both the bottle with white and yellow label and the bottle with ridged neck together.",
+    "Lift the bottle with yellow Chinese characters and the bottle with ridged neck simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with yellow Chinese characters and the blue-capped plastic bottle, together.",
+    "Grasp the shiny red bottle and the blue-capped plastic bottle simultaneously.",
+    "Grab the shiny red bottle and the bottle with curved neck design at the same time.",
+    "Use one arm for the bottle with white and yellow label and the other for the blue-capped plastic bottle.",
+    "Lift the shiny red bottle as the other arm lifts the bottle with curved neck design.",
+    "Pick up the shiny red bottle and the bottle with ridged neck in parallel.",
+    "Take hold of the bottle with white and yellow label and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with white and yellow label and the bottle with ridged neck.",
+    "Pick up both the bottle with yellow Chinese characters and the bottle with ridged neck together.",
+    "Lift the bottle with white and yellow label and the bottle with ridged neck simultaneously with separate arms.",
+    "Raise both different bottles, the shiny red bottle and the bottle with curved neck design, together.",
+    "Grasp the bottle with yellow Chinese characters and the bottle with curved neck design simultaneously.",
+    "Grab the bottle with white and yellow label and the blue-capped plastic bottle at the same time.",
+    "Use one arm for the bottle with white and yellow label and the other for the bottle with curved neck design.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up the bottle with white and yellow label and the blue-capped plastic bottle in parallel.",
+    "Take hold of the bottle with yellow Chinese characters and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with white and yellow label and the blue-capped plastic bottle.",
+    "Pick up both the shiny red bottle and the bottle with curved neck design together.",
+    "Lift the bottle with white and yellow label and the bottle with ridged neck simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with white and yellow label and the bottle with curved neck design, together.",
+    "Grasp the bottle with white and yellow label and the bottle with ridged neck simultaneously.",
+    "Grab the bottle with white and yellow label and the bottle with ridged neck at the same time.",
+    "Use one arm for the bottle with white and yellow label and the other for the bottle with curved neck design.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the bottle with ridged neck.",
+    "Pick up the bottle with white and yellow label and the bottle with curved neck design in parallel.",
+    "Take hold of the shiny red bottle and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the bottle with ridged neck.",
+    "Pick up both the bottle with white and yellow label and the blue-capped plastic bottle together.",
+    "Lift the bottle with white and yellow label and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Raise both different bottles, the shiny red bottle and the bottle with ridged neck, together.",
+    "Grasp the bottle with white and yellow label and the blue-capped plastic bottle simultaneously.",
+    "Grab the bottle with yellow Chinese characters and the blue-capped plastic bottle at the same time.",
+    "Use one arm for the bottle with yellow Chinese characters and the other for the bottle with curved neck design.",
+    "Lift the shiny red bottle as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up the bottle with yellow Chinese characters and the bottle with curved neck design in parallel.",
+    "Take hold of the bottle with white and yellow label and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the shiny red bottle and the bottle with ridged neck.",
+    "Pick up both the bottle with yellow Chinese characters and the blue-capped plastic bottle together.",
+    "Lift the shiny red bottle and the bottle with curved neck design simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with white and yellow label and the bottle with curved neck design, together.",
+    "Grasp the bottle with yellow Chinese characters and the bottle with curved neck design simultaneously.",
+    "Grab the shiny red bottle and the blue-capped plastic bottle at the same time.",
+    "Use one arm for the bottle with white and yellow label and the other for the bottle with ridged neck.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the bottle with ridged neck.",
+    "Pick up the bottle with yellow Chinese characters and the bottle with curved neck design in parallel.",
+    "Take hold of the bottle with white and yellow label and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the shiny red bottle and the blue-capped plastic bottle.",
+    "Pick up both the bottle with white and yellow label and the blue-capped plastic bottle together.",
+    "Lift the shiny red bottle and the bottle with curved neck design simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with white and yellow label and the bottle with curved neck design, together.",
+    "Grasp the bottle with yellow Chinese characters and the bottle with curved neck design simultaneously.",
+    "Grab the bottle with white and yellow label and the bottle with ridged neck at the same time.",
+    "Use one arm for the bottle with white and yellow label and the other for the bottle with curved neck design.",
+    "Lift the bottle with yellow Chinese characters as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up the bottle with white and yellow label and the bottle with ridged neck in parallel.",
+    "Take hold of the shiny red bottle and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the shiny red bottle and the bottle with ridged neck.",
+    "Pick up both the bottle with white and yellow label and the bottle with ridged neck together.",
+    "Lift the bottle with white and yellow label and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Raise both different bottles, the shiny red bottle and the bottle with ridged neck, together.",
+    "Grasp the shiny red bottle and the bottle with curved neck design simultaneously.",
+    "Grab the bottle with yellow Chinese characters and the bottle with curved neck design at the same time.",
+    "Use one arm for the shiny red bottle and the other for the blue-capped plastic bottle.",
+    "Lift the shiny red bottle as the other arm lifts the blue-capped plastic bottle.",
+    "Pick up the shiny red bottle and the blue-capped plastic bottle in parallel.",
+    "Take hold of the bottle with yellow Chinese characters and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the bottle with yellow Chinese characters and the blue-capped plastic bottle.",
+    "Pick up both the bottle with yellow Chinese characters and the bottle with curved neck design together.",
+    "Lift the bottle with white and yellow label and the bottle with curved neck design simultaneously with separate arms.",
+    "Raise both different bottles, the shiny red bottle and the bottle with ridged neck, together.",
+    "Grasp the bottle with white and yellow label and the bottle with ridged neck simultaneously.",
+    "Grab the bottle with yellow Chinese characters and the bottle with ridged neck at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000039.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000039.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4db5b4dfe6152e5c86ad0929f99e1fc3abef1eb
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000039.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the orange bottle in one arm and the smooth surface bottle with gray shade in the other.",
+    "Pick the cylindrical orange bottle with yellow top and the smooth surface bottle with gray shade up in parallel.",
+    "Hold both the bottle with printed label and the bottle with cute ghost drawing, one in each arm.",
+    "Grab the plastic bottle with sealed yellow cap and the bottle with cute ghost drawing at the same time.",
+    "Secure both the bottle with printed label and the milk-bottle shape design simultaneously.",
+    "Pick the bottle for liquids while the other arm picks the medium cylinder-shaped bottle.",
+    "Reach for the bottle with narrow neck and the smooth surface bottle with gray shade with both arms at once.",
+    "Grab both bottles in parallel, the orange cylindrical bottle and the smooth surface bottle with gray shade.",
+    "Lift both different bottles, the bottle for liquids and the milk-bottle shape design, together.",
+    "Lift the yellow-capped plastic bottle and the rounded body bottle made of plastic in one synchronized motion.",
+    "Use each arm to secure one of the orange cylindrical bottle and the bottle with cute ghost drawing.",
+    "Use separate arms to lift the bottle with printed label and the light gray colored container bottle.",
+    "Pick up the bottle with narrow neck and the bottle shaped like small cylinder simultaneously.",
+    "Lift the yellow-capped plastic bottle and the bottle shaped like small cylinder together with both arms.",
+    "Use both arms simultaneously for the plastic bottle and the smooth cylindrical bottle.",
+    "Pick up both the smooth plastic bottle and the gray bottle with slight shine using separate arms.",
+    "Raise the plastic bottle and the medium-sized plastic bottle at the same time.",
+    "Raise both bottles at once: the cylindrical orange bottle with yellow top and the smooth cylindrical bottle.",
+    "Grasp the different bottles the bottle with narrow neck and the rounded body bottle made of plastic simultaneously.",
+    "Simultaneously grasp and lift the plastic bottle with sealed yellow cap and the bottle shaped like small cylinder.",
+    "Take hold of the smooth plastic bottle and the light gray colored container bottle at once.",
+    "Each arm should grab one bottle: the medium-sized orange bottle and the milk-bottle shape design.",
+    "Pick up the pair the bottle for liquids and the medium cylinder-shaped bottle together.",
+    "Take the plastic bottle with sealed yellow cap and the medium-sized plastic bottle together, one per arm.",
+    "Use both arms to grasp the bottle with yellow cap and the medium-sized plastic bottle together.",
+    "Raise the plastic bottle with sealed yellow cap with one arm and the medium cylinder-shaped bottle with the other.",
+    "Catch the bottle with printed label and the light gray colored container bottle together.",
+    "Assign one arm to the plastic bottle with sealed yellow cap and one to the smooth surface bottle with gray shade.",
+    "Use one arm for the medium-sized orange bottle and the other for the smooth cylindrical bottle.",
+    "Grasp the smooth plastic bottle as the other arm grasps the hand-sized bottle with screw cap.",
+    "Hold the cylindrical orange bottle with yellow top in one arm and the gray bottle with slight shine in the other.",
+    "Pick the plastic bottle with sealed yellow cap and the medium cylinder-shaped bottle up in parallel.",
+    "Hold both the plastic bottle and the hand-sized bottle with screw cap, one in each arm.",
+    "Grab the bottle with yellow cap and the gray bottle with slight shine at the same time.",
+    "Secure both the yellow-capped plastic bottle and the light gray colored container bottle simultaneously.",
+    "Pick the orange cylindrical bottle while the other arm picks the plastic bottle with ghost print.",
+    "Reach for the medium-sized orange bottle and the bottle with cute ghost drawing with both arms at once.",
+    "Grab both bottles in parallel, the orange bottle and the hand-sized bottle with screw cap.",
+    "Lift both different bottles, the orange bottle and the gray bottle with slight shine, together.",
+    "Lift the smooth plastic bottle and the light gray colored container bottle in one synchronized motion.",
+    "Use each arm to secure one of the plastic bottle with sealed yellow cap and the gray bottle with slight shine.",
+    "Use separate arms to lift the smooth plastic bottle and the milk-bottle shape design.",
+    "Pick up the medium-sized orange bottle and the smooth cylindrical bottle simultaneously.",
+    "Lift the yellow-capped plastic bottle and the bottle with cute ghost drawing together with both arms.",
+    "Use both arms simultaneously for the cylindrical orange bottle with yellow top and the medium cylinder-shaped bottle.",
+    "Pick up both the orange cylindrical bottle and the smooth cylindrical bottle using separate arms.",
+    "Raise the medium-sized orange bottle and the bottle shaped like small cylinder at the same time.",
+    "Raise both bottles at once: the cylindrical orange bottle with yellow top and the bottle with cute ghost drawing.",
+    "Grasp the different bottles the yellow-capped plastic bottle and the light gray colored container bottle simultaneously.",
+    "Simultaneously grasp and lift the cylindrical orange bottle with yellow top and the plastic bottle with ghost print.",
+    "Take hold of the orange cylindrical bottle and the bottle shaped like small cylinder at once.",
+    "Each arm should grab one bottle: the bottle with printed label and the smooth surface bottle with gray shade.",
+    "Pick up the pair the bottle for liquids and the plastic bottle with ghost print together.",
+    "Take the orange cylindrical bottle and the light gray colored container bottle together, one per arm.",
+    "Use both arms to grasp the orange bottle and the hand-sized bottle with screw cap together.",
+    "Raise the orange bottle with one arm and the smooth surface bottle with gray shade with the other.",
+    "Catch the cylindrical orange bottle with yellow top and the bottle with cute ghost drawing together.",
+    "Assign one arm to the plastic bottle with sealed yellow cap and one to the milk-bottle shape design.",
+    "Use one arm for the bottle with printed label and the other for the plastic bottle with ghost print.",
+    "Grasp the bottle for liquids as the other arm grasps the hand-sized bottle with screw cap.",
+    "Hold the plastic bottle with sealed yellow cap in one arm and the bottle shaped like small cylinder in the other.",
+    "Pick the orange cylindrical bottle and the hand-sized bottle with screw cap up in parallel.",
+    "Hold both the plastic bottle with sealed yellow cap and the gray bottle with slight shine, one in each arm.",
+    "Grab the smooth plastic bottle and the smooth cylindrical bottle at the same time.",
+    "Secure both the bottle for liquids and the milk-bottle shape design simultaneously.",
+    "Pick the bottle with printed label while the other arm picks the gray bottle with slight shine.",
+    "Reach for the orange cylindrical bottle and the rounded body bottle made of plastic with both arms at once.",
+    "Grab both bottles in parallel, the bottle with narrow neck and the smooth surface bottle with gray shade.",
+    "Lift both different bottles, the plastic bottle with sealed yellow cap and the bottle shaped like small cylinder, together.",
+    "Lift the yellow-capped plastic bottle and the gray bottle with slight shine in one synchronized motion.",
+    "Use each arm to secure one of the bottle with printed label and the smooth cylindrical bottle.",
+    "Use separate arms to lift the plastic bottle and the bottle shaped like small cylinder.",
+    "Pick up the orange cylindrical bottle and the bottle shaped like small cylinder simultaneously.",
+    "Lift the bottle with yellow cap and the gray bottle with slight shine together with both arms.",
+    "Use both arms simultaneously for the plastic bottle and the smooth surface bottle with gray shade.",
+    "Pick up both the cylindrical orange bottle with yellow top and the medium-sized plastic bottle using separate arms.",
+    "Raise the smooth plastic bottle and the bottle shaped like small cylinder at the same time.",
+    "Raise both bottles at once: the medium-sized orange bottle and the gray bottle with slight shine.",
+    "Grasp the different bottles the yellow-capped plastic bottle and the medium-sized plastic bottle simultaneously.",
+    "Simultaneously grasp and lift the yellow-capped plastic bottle and the plastic bottle with ghost print.",
+    "Take hold of the plastic bottle with sealed yellow cap and the hand-sized bottle with screw cap at once.",
+    "Each arm should grab one bottle: the smooth plastic bottle and the medium cylinder-shaped bottle.",
+    "Pick up the pair the medium-sized orange bottle and the hand-sized bottle with screw cap together.",
+    "Take the plastic bottle with sealed yellow cap and the rounded body bottle made of plastic together, one per arm.",
+    "Use both arms to grasp the medium-sized orange bottle and the milk-bottle shape design together.",
+    "Raise the orange bottle with one arm and the bottle with cute ghost drawing with the other.",
+    "Catch the bottle with printed label and the medium-sized plastic bottle together.",
+    "Assign one arm to the plastic bottle and one to the light gray colored container bottle.",
+    "Use one arm for the bottle with narrow neck and the other for the smooth surface bottle with gray shade.",
+    "Grasp the bottle with printed label as the other arm grasps the bottle shaped like small cylinder.",
+    "Hold the orange cylindrical bottle in one arm and the medium-sized plastic bottle in the other.",
+    "Pick the smooth plastic bottle and the bottle with cute ghost drawing up in parallel.",
+    "Hold both the orange bottle and the rounded body bottle made of plastic, one in each arm.",
+    "Grab the orange bottle and the light gray colored container bottle at the same time.",
+    "Secure both the bottle with yellow cap and the smooth cylindrical bottle simultaneously.",
+    "Pick the plastic bottle with sealed yellow cap while the other arm picks the hand-sized bottle with screw cap.",
+    "Reach for the medium-sized orange bottle and the plastic bottle with ghost print with both arms at once.",
+    "Grab both bottles in parallel, the plastic bottle with sealed yellow cap and the milk-bottle shape design.",
+    "Lift both different bottles, the plastic bottle and the hand-sized bottle with screw cap, together.",
+    "Lift the bottle with yellow cap and the hand-sized bottle with screw cap in one synchronized motion."
+  ],
+  "unseen": [
+    "Pick up the handheld orange bottle and the gray bottle for holding drinks in parallel.",
+    "Use each arm to grab one of the label-covered orange bottle and the gray bottle for holding drinks.",
+    "Lift the orange bottle with smooth texture as the other arm lifts the light gray bottle.",
+    "Raise both different bottles, the label-covered orange bottle and the bottle with rounded cap top, together.",
+    "Take hold of the label-covered orange bottle and the bottle with rounded cap top at once.",
+    "Lift the handheld orange bottle and the gray bottle for holding drinks simultaneously with separate arms.",
+    "Grab the handheld orange bottle and the gray bottle for holding drinks at the same time.",
+    "Use one arm for the handheld orange bottle and the other for the light gray bottle.",
+    "Pick up both the orange bottle with smooth texture and the gray bottle for holding drinks together.",
+    "Grasp the orange bottle with smooth texture and the bottle with rounded cap top simultaneously.",
+    "Pick up the orange bottle with smooth texture and the light gray bottle in parallel.",
+    "Use each arm to grab one of the handheld orange bottle and the bottle with rounded cap top.",
+    "Lift the orange bottle with smooth texture as the other arm lifts the light gray bottle.",
+    "Raise both different bottles, the handheld orange bottle and the bottle with rounded cap top, together.",
+    "Take hold of the orange bottle with smooth texture and the gray bottle for holding drinks at once.",
+    "Lift the label-covered orange bottle and the gray bottle for holding drinks simultaneously with separate arms.",
+    "Grab the label-covered orange bottle and the bottle with rounded cap top at the same time.",
+    "Use one arm for the label-covered orange bottle and the other for the light gray bottle.",
+    "Pick up both the handheld orange bottle and the gray bottle for holding drinks together.",
+    "Grasp the orange bottle with smooth texture and the gray bottle for holding drinks simultaneously.",
+    "Pick up the orange bottle with smooth texture and the bottle with rounded cap top in parallel.",
+    "Use each arm to grab one of the label-covered orange bottle and the gray bottle for holding drinks.",
+    "Lift the label-covered orange bottle as the other arm lifts the bottle with rounded cap top.",
+    "Raise both different bottles, the label-covered orange bottle and the gray bottle for holding drinks, together.",
+    "Take hold of the orange bottle with smooth texture and the light gray bottle at once.",
+    "Lift the orange bottle with smooth texture and the light gray bottle simultaneously with separate arms.",
+    "Grab the label-covered orange bottle and the bottle with rounded cap top at the same time.",
+    "Use one arm for the orange bottle with smooth texture and the other for the gray bottle for holding drinks.",
+    "Pick up both the orange bottle with smooth texture and the gray bottle for holding drinks together.",
+    "Grasp the label-covered orange bottle and the bottle with rounded cap top simultaneously.",
+    "Pick up the label-covered orange bottle and the light gray bottle in parallel.",
+    "Use each arm to grab one of the handheld orange bottle and the gray bottle for holding drinks.",
+    "Lift the handheld orange bottle as the other arm lifts the light gray bottle.",
+    "Raise both different bottles, the label-covered orange bottle and the gray bottle for holding drinks, together.",
+    "Take hold of the label-covered orange bottle and the bottle with rounded cap top at once.",
+    "Lift the label-covered orange bottle and the bottle with rounded cap top simultaneously with separate arms.",
+    "Grab the orange bottle with smooth texture and the gray bottle for holding drinks at the same time.",
+    "Use one arm for the label-covered orange bottle and the other for the light gray bottle.",
+    "Pick up both the label-covered orange bottle and the bottle with rounded cap top together.",
+    "Grasp the handheld orange bottle and the bottle with rounded cap top simultaneously.",
+    "Pick up the label-covered orange bottle and the gray bottle for holding drinks in parallel.",
+    "Use each arm to grab one of the orange bottle with smooth texture and the gray bottle for holding drinks.",
+    "Lift the handheld orange bottle as the other arm lifts the light gray bottle.",
+    "Raise both different bottles, the orange bottle with smooth texture and the gray bottle for holding drinks, together.",
+    "Take hold of the orange bottle with smooth texture and the gray bottle for holding drinks at once.",
+    "Lift the label-covered orange bottle and the light gray bottle simultaneously with separate arms.",
+    "Grab the label-covered orange bottle and the light gray bottle at the same time.",
+    "Use one arm for the label-covered orange bottle and the other for the bottle with rounded cap top.",
+    "Pick up both the handheld orange bottle and the bottle with rounded cap top together.",
+    "Grasp the handheld orange bottle and the light gray bottle simultaneously.",
+    "Pick up the orange bottle with smooth texture and the gray bottle for holding drinks in parallel.",
+    "Use each arm to grab one of the label-covered orange bottle and the light gray bottle.",
+    "Lift the handheld orange bottle as the other arm lifts the bottle with rounded cap top.",
+    "Raise both different bottles, the label-covered orange bottle and the gray bottle for holding drinks, together.",
+    "Take hold of the label-covered orange bottle and the light gray bottle at once.",
+    "Lift the orange bottle with smooth texture and the light gray bottle simultaneously with separate arms.",
+    "Grab the orange bottle with smooth texture and the gray bottle for holding drinks at the same time.",
+    "Use one arm for the orange bottle with smooth texture and the other for the gray bottle for holding drinks.",
+    "Pick up both the orange bottle with smooth texture and the gray bottle for holding drinks together.",
+    "Grasp the orange bottle with smooth texture and the gray bottle for holding drinks simultaneously.",
+    "Pick up the label-covered orange bottle and the bottle with rounded cap top in parallel.",
+    "Use each arm to grab one of the handheld orange bottle and the gray bottle for holding drinks.",
+    "Lift the orange bottle with smooth texture as the other arm lifts the gray bottle for holding drinks.",
+    "Raise both different bottles, the orange bottle with smooth texture and the gray bottle for holding drinks, together.",
+    "Take hold of the handheld orange bottle and the gray bottle for holding drinks at once.",
+    "Lift the orange bottle with smooth texture and the bottle with rounded cap top simultaneously with separate arms.",
+    "Grab the orange bottle with smooth texture and the light gray bottle at the same time.",
+    "Use one arm for the label-covered orange bottle and the other for the gray bottle for holding drinks.",
+    "Pick up both the orange bottle with smooth texture and the light gray bottle together.",
+    "Grasp the orange bottle with smooth texture and the bottle with rounded cap top simultaneously.",
+    "Pick up the orange bottle with smooth texture and the bottle with rounded cap top in parallel.",
+    "Use each arm to grab one of the orange bottle with smooth texture and the light gray bottle.",
+    "Lift the orange bottle with smooth texture as the other arm lifts the light gray bottle.",
+    "Raise both different bottles, the label-covered orange bottle and the bottle with rounded cap top, together.",
+    "Take hold of the orange bottle with smooth texture and the bottle with rounded cap top at once.",
+    "Lift the label-covered orange bottle and the light gray bottle simultaneously with separate arms.",
+    "Grab the handheld orange bottle and the gray bottle for holding drinks at the same time.",
+    "Use one arm for the handheld orange bottle and the other for the bottle with rounded cap top.",
+    "Pick up both the label-covered orange bottle and the gray bottle for holding drinks together.",
+    "Grasp the handheld orange bottle and the light gray bottle simultaneously.",
+    "Pick up the handheld orange bottle and the gray bottle for holding drinks in parallel.",
+    "Use each arm to grab one of the label-covered orange bottle and the bottle with rounded cap top.",
+    "Lift the label-covered orange bottle as the other arm lifts the gray bottle for holding drinks.",
+    "Raise both different bottles, the label-covered orange bottle and the bottle with rounded cap top, together.",
+    "Take hold of the handheld orange bottle and the gray bottle for holding drinks at once.",
+    "Lift the orange bottle with smooth texture and the gray bottle for holding drinks simultaneously with separate arms.",
+    "Grab the label-covered orange bottle and the gray bottle for holding drinks at the same time.",
+    "Use one arm for the orange bottle with smooth texture and the other for the bottle with rounded cap top.",
+    "Pick up both the orange bottle with smooth texture and the gray bottle for holding drinks together.",
+    "Grasp the orange bottle with smooth texture and the bottle with rounded cap top simultaneously.",
+    "Pick up the orange bottle with smooth texture and the gray bottle for holding drinks in parallel.",
+    "Use each arm to grab one of the handheld orange bottle and the light gray bottle.",
+    "Lift the label-covered orange bottle as the other arm lifts the gray bottle for holding drinks.",
+    "Raise both different bottles, the orange bottle with smooth texture and the gray bottle for holding drinks, together.",
+    "Take hold of the label-covered orange bottle and the gray bottle for holding drinks at once.",
+    "Lift the orange bottle with smooth texture and the bottle with rounded cap top simultaneously with separate arms.",
+    "Grab the label-covered orange bottle and the light gray bottle at the same time.",
+    "Use one arm for the orange bottle with smooth texture and the other for the bottle with rounded cap top.",
+    "Pick up both the handheld orange bottle and the gray bottle for holding drinks together.",
+    "Grasp the orange bottle with smooth texture and the light gray bottle simultaneously."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000040.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000040.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f6071d14a72be2cddb027f2c8ec79d5e89ec2da
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000040.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise both bottles at once: the yellow capped drink bottle and the red bottle.",
+    "Secure both the yellow capped drink bottle and the yellow text bottle simultaneously.",
+    "Pick up both the yellow-capped cylindrical bottle and the plastic bottle using separate arms.",
+    "Hold the beverage bottle with black body in one arm and the red bottle with screw cap in the other.",
+    "Catch the yellow capped drink bottle and the red bottle together.",
+    "Use one arm for the drink bottle with rounded yellow lid and the other for the red bottle with narrow neck.",
+    "Grasp the black cylindrical bottle with ridges as the other arm grasps the red bottle with curved grooves.",
+    "Raise the black plastic bottle with Pepsi logo and the yellow text bottle at the same time.",
+    "Hold both the medium black bottle with printed label and the bottle with red cap, one in each arm.",
+    "Pick up the pair the medium black bottle with printed label and the bottle with red cap together.",
+    "Each arm should grab one bottle: the beverage bottle with black body and the medium-size plastic bottle.",
+    "Pick up the black bottle and the plastic bottle simultaneously.",
+    "Pick the beverage bottle with black body and the red bottle with screw cap up in parallel.",
+    "Simultaneously grasp and lift the drink bottle with rounded yellow lid and the yellow text bottle.",
+    "Use both arms to grasp the bottle with blue and yellow print and the red bottle with narrow neck together.",
+    "Lift the beverage bottle with black body and the medium-size plastic bottle together with both arms.",
+    "Grasp the different bottles the drink bottle with rounded yellow lid and the smooth red cylindrical bottle simultaneously.",
+    "Take the smooth black bottle with ridges and the medium-size plastic bottle together, one per arm.",
+    "Assign one arm to the smooth black bottle with ridges and one to the red bottle with screw cap.",
+    "Use each arm to secure one of the yellow capped drink bottle and the smooth red cylindrical bottle.",
+    "Reach for the medium black bottle with printed label and the smooth red cylindrical bottle with both arms at once.",
+    "Take hold of the medium black bottle with printed label and the plastic bottle at once.",
+    "Use separate arms to lift the smooth black bottle with ridges and the red bottle with narrow neck.",
+    "Grab both bottles in parallel, the black bottle and the red bottle with curved grooves.",
+    "Pick the medium black bottle with printed label while the other arm picks the red bottle.",
+    "Lift the beverage bottle with black body and the smooth red cylindrical bottle in one synchronized motion.",
+    "Lift both different bottles, the black plastic bottle with Pepsi logo and the red bottle with screw cap, together.",
+    "Raise the medium black bottle with printed label with one arm and the red bottle with narrow neck with the other.",
+    "Grab the bottle with blue and yellow print and the handheld plastic bottle at the same time.",
+    "Use both arms simultaneously for the medium black bottle with printed label and the handheld plastic bottle.",
+    "Raise both bottles at once: the drink bottle with rounded yellow lid and the plastic bottle with bright red color.",
+    "Secure both the plastic bottle with colorful label and the red bottle with narrow neck simultaneously.",
+    "Pick up both the black plastic bottle with Pepsi logo and the bottle with red cap using separate arms.",
+    "Hold the beverage bottle with black body in one arm and the medium-size plastic bottle in the other.",
+    "Catch the medium black bottle with printed label and the red bottle with curved grooves together.",
+    "Use one arm for the yellow capped drink bottle and the other for the yellow text bottle.",
+    "Grasp the medium bottle with yellow cap as the other arm grasps the smooth red cylindrical bottle.",
+    "Raise the medium bottle with yellow cap and the plastic bottle at the same time.",
+    "Hold both the yellow-capped cylindrical bottle and the red bottle with curved grooves, one in each arm.",
+    "Pick up the pair the medium black bottle with printed label and the red bottle with white bottom text together.",
+    "Each arm should grab one bottle: the beverage bottle with black body and the handheld plastic bottle.",
+    "Pick up the medium black bottle with printed label and the red bottle with white bottom text simultaneously.",
+    "Pick the smooth black bottle with ridges and the red bottle up in parallel.",
+    "Simultaneously grasp and lift the bottle with blue and yellow print and the bottle with red cap.",
+    "Use both arms to grasp the yellow capped drink bottle and the red bottle with curved grooves together.",
+    "Lift the drink bottle with rounded yellow lid and the handheld plastic bottle together with both arms.",
+    "Grasp the different bottles the smooth black bottle with ridges and the red bottle with narrow neck simultaneously.",
+    "Take the plastic bottle with colorful label and the smooth red cylindrical bottle together, one per arm.",
+    "Assign one arm to the yellow-capped cylindrical bottle and one to the red bottle with narrow neck.",
+    "Use each arm to secure one of the yellow capped drink bottle and the red bottle with narrow neck.",
+    "Reach for the yellow capped drink bottle and the red bottle with both arms at once.",
+    "Take hold of the drink bottle with rounded yellow lid and the plastic bottle with bright red color at once.",
+    "Use separate arms to lift the black plastic bottle with Pepsi logo and the bottle with red cap.",
+    "Grab both bottles in parallel, the bottle with blue and yellow print and the red bottle with screw cap.",
+    "Pick the black bottle while the other arm picks the red bottle with screw cap.",
+    "Lift the yellow-capped cylindrical bottle and the plastic bottle with bright red color in one synchronized motion.",
+    "Lift both different bottles, the medium black bottle with printed label and the red bottle with narrow neck, together.",
+    "Raise the medium black bottle with printed label with one arm and the medium-size plastic bottle with the other.",
+    "Grab the beverage bottle with black body and the red bottle with white bottom text at the same time.",
+    "Use both arms simultaneously for the yellow capped drink bottle and the red bottle.",
+    "Raise both bottles at once: the drink bottle with rounded yellow lid and the red bottle with screw cap.",
+    "Secure both the drink bottle with rounded yellow lid and the yellow text bottle simultaneously.",
+    "Pick up both the yellow-capped cylindrical bottle and the red bottle with white bottom text using separate arms.",
+    "Hold the drink bottle with rounded yellow lid in one arm and the red bottle with white bottom text in the other.",
+    "Catch the beverage bottle with black body and the red bottle with screw cap together.",
+    "Use one arm for the yellow-capped cylindrical bottle and the other for the red bottle.",
+    "Grasp the medium black bottle with printed label as the other arm grasps the handheld plastic bottle.",
+    "Raise the yellow-capped cylindrical bottle and the plastic bottle at the same time.",
+    "Hold both the black bottle and the red bottle with narrow neck, one in each arm.",
+    "Pick up the pair the medium black bottle with printed label and the red bottle with white bottom text together.",
+    "Each arm should grab one bottle: the smooth black bottle with ridges and the red bottle with white bottom text.",
+    "Pick up the yellow capped drink bottle and the red bottle with screw cap simultaneously.",
+    "Pick the black bottle and the plastic bottle with bright red color up in parallel.",
+    "Simultaneously grasp and lift the smooth black bottle with ridges and the plastic bottle with bright red color.",
+    "Use both arms to grasp the smooth black bottle with ridges and the medium-size plastic bottle together.",
+    "Lift the plastic bottle with colorful label and the medium-size plastic bottle together with both arms.",
+    "Grasp the different bottles the medium black bottle with printed label and the red bottle with white bottom text simultaneously.",
+    "Take the plastic bottle with colorful label and the bottle with red cap together, one per arm.",
+    "Assign one arm to the bottle with blue and yellow print and one to the smooth red cylindrical bottle.",
+    "Use each arm to secure one of the black bottle and the handheld plastic bottle.",
+    "Reach for the yellow capped drink bottle and the yellow text bottle with both arms at once.",
+    "Take hold of the beverage bottle with black body and the red bottle with screw cap at once.",
+    "Use separate arms to lift the black cylindrical bottle with ridges and the red bottle with screw cap.",
+    "Grab both bottles in parallel, the medium bottle with yellow cap and the red bottle with curved grooves.",
+    "Pick the medium bottle with yellow cap while the other arm picks the smooth red cylindrical bottle.",
+    "Lift the black bottle and the plastic bottle in one synchronized motion.",
+    "Lift both different bottles, the beverage bottle with black body and the plastic bottle with bright red color, together.",
+    "Raise the black cylindrical bottle with ridges with one arm and the red bottle with screw cap with the other.",
+    "Grab the beverage bottle with black body and the red bottle with curved grooves at the same time.",
+    "Use both arms simultaneously for the black plastic bottle with Pepsi logo and the red bottle with curved grooves.",
+    "Raise both bottles at once: the black bottle and the red bottle.",
+    "Secure both the smooth black bottle with ridges and the plastic bottle with bright red color simultaneously.",
+    "Pick up both the drink bottle with rounded yellow lid and the yellow text bottle using separate arms.",
+    "Hold the bottle with blue and yellow print in one arm and the handheld plastic bottle in the other.",
+    "Catch the smooth black bottle with ridges and the medium-size plastic bottle together.",
+    "Use one arm for the black bottle and the other for the bottle with red cap.",
+    "Grasp the bottle with blue and yellow print as the other arm grasps the handheld plastic bottle.",
+    "Raise the yellow capped drink bottle and the plastic bottle at the same time.",
+    "Hold both the yellow capped drink bottle and the red bottle, one in each arm.",
+    "Pick up the pair the black bottle and the red bottle with curved grooves together."
+  ],
+  "unseen": [
+    "Lift the plastic bottle with blue label as the other arm lifts the bottle with white and yellow label.",
+    "Take hold of the hand-sized bottle with ridged bottom and the bottle with white and yellow label at once.",
+    "Use one arm for the bottle with ridges near base and the other for the shiny red bottle.",
+    "Pick up both the bottle with ridges near base and the bottle with yellow Chinese characters together.",
+    "Grab the bottle with ridges near base and the bottle with white and yellow label at the same time.",
+    "Grasp the plastic bottle with blue label and the bottle with white and yellow label simultaneously.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow Chinese characters, together.",
+    "Lift the hand-sized bottle with ridged bottom and the shiny red bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridges near base and the bottle with yellow Chinese characters.",
+    "Pick up the bottle with ridges near base and the bottle with yellow Chinese characters in parallel.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the bottle with yellow Chinese characters.",
+    "Take hold of the bottle with ridges near base and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the bottle with ridges near base and the other for the shiny red bottle.",
+    "Pick up both the bottle with ridges near base and the bottle with yellow Chinese characters together.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with white and yellow label at the same time.",
+    "Grasp the bottle with ridges near base and the bottle with white and yellow label simultaneously.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with white and yellow label, together.",
+    "Lift the bottle with ridges near base and the shiny red bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the plastic bottle with blue label and the shiny red bottle.",
+    "Pick up the bottle with ridges near base and the bottle with white and yellow label in parallel.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the shiny red bottle.",
+    "Take hold of the hand-sized bottle with ridged bottom and the shiny red bottle at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with white and yellow label.",
+    "Pick up both the bottle with ridges near base and the shiny red bottle together.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with white and yellow label at the same time.",
+    "Grasp the bottle with ridges near base and the bottle with yellow Chinese characters simultaneously.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow Chinese characters, together.",
+    "Lift the hand-sized bottle with ridged bottom and the shiny red bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the bottle with white and yellow label.",
+    "Pick up the bottle with ridges near base and the bottle with yellow Chinese characters in parallel.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the bottle with white and yellow label.",
+    "Take hold of the bottle with ridges near base and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the bottle with yellow Chinese characters.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with white and yellow label together.",
+    "Grab the bottle with ridges near base and the shiny red bottle at the same time.",
+    "Grasp the hand-sized bottle with ridged bottom and the bottle with white and yellow label simultaneously.",
+    "Raise both different bottles, the bottle with ridges near base and the shiny red bottle, together.",
+    "Lift the bottle with ridges near base and the shiny red bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the bottle with white and yellow label.",
+    "Pick up the plastic bottle with blue label and the bottle with yellow Chinese characters in parallel.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the bottle with white and yellow label.",
+    "Take hold of the plastic bottle with blue label and the shiny red bottle at once.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the bottle with white and yellow label.",
+    "Pick up both the bottle with ridges near base and the bottle with white and yellow label together.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters at the same time.",
+    "Grasp the plastic bottle with blue label and the shiny red bottle simultaneously.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow Chinese characters, together.",
+    "Lift the bottle with ridges near base and the bottle with white and yellow label simultaneously with separate arms.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with yellow Chinese characters.",
+    "Pick up the plastic bottle with blue label and the bottle with white and yellow label in parallel.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with yellow Chinese characters.",
+    "Take hold of the bottle with ridges near base and the shiny red bottle at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with white and yellow label.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with white and yellow label together.",
+    "Grab the plastic bottle with blue label and the bottle with white and yellow label at the same time.",
+    "Grasp the plastic bottle with blue label and the bottle with yellow Chinese characters simultaneously.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow Chinese characters, together.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridges near base and the bottle with yellow Chinese characters.",
+    "Pick up the bottle with ridges near base and the bottle with white and yellow label in parallel.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with white and yellow label.",
+    "Take hold of the bottle with ridges near base and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with yellow Chinese characters.",
+    "Pick up both the bottle with ridges near base and the shiny red bottle together.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters at the same time.",
+    "Grasp the plastic bottle with blue label and the bottle with white and yellow label simultaneously.",
+    "Raise both different bottles, the bottle with ridges near base and the bottle with white and yellow label, together.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with white and yellow label simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridges near base and the bottle with yellow Chinese characters.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters in parallel.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with yellow Chinese characters.",
+    "Take hold of the plastic bottle with blue label and the bottle with yellow Chinese characters at once.",
+    "Use one arm for the plastic bottle with blue label and the other for the bottle with yellow Chinese characters.",
+    "Pick up both the plastic bottle with blue label and the bottle with white and yellow label together.",
+    "Grab the plastic bottle with blue label and the shiny red bottle at the same time.",
+    "Grasp the bottle with ridges near base and the shiny red bottle simultaneously.",
+    "Raise both different bottles, the plastic bottle with blue label and the shiny red bottle, together.",
+    "Lift the bottle with ridges near base and the bottle with white and yellow label simultaneously with separate arms.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with white and yellow label.",
+    "Pick up the plastic bottle with blue label and the bottle with yellow Chinese characters in parallel.",
+    "Lift the plastic bottle with blue label as the other arm lifts the shiny red bottle.",
+    "Take hold of the hand-sized bottle with ridged bottom and the shiny red bottle at once.",
+    "Use one arm for the plastic bottle with blue label and the other for the shiny red bottle.",
+    "Pick up both the plastic bottle with blue label and the bottle with white and yellow label together.",
+    "Grab the hand-sized bottle with ridged bottom and the shiny red bottle at the same time.",
+    "Grasp the hand-sized bottle with ridged bottom and the bottle with white and yellow label simultaneously.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters, together.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with yellow Chinese characters simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridges near base and the bottle with white and yellow label.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with white and yellow label in parallel.",
+    "Lift the plastic bottle with blue label as the other arm lifts the bottle with white and yellow label.",
+    "Take hold of the plastic bottle with blue label and the shiny red bottle at once.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with white and yellow label.",
+    "Pick up both the hand-sized bottle with ridged bottom and the shiny red bottle together.",
+    "Grab the plastic bottle with blue label and the shiny red bottle at the same time.",
+    "Grasp the plastic bottle with blue label and the bottle with white and yellow label simultaneously.",
+    "Raise both different bottles, the bottle with ridges near base and the bottle with white and yellow label, together.",
+    "Lift the plastic bottle with blue label and the shiny red bottle simultaneously with separate arms.",
+    "Use each arm to grab one of the plastic bottle with blue label and the shiny red bottle.",
+    "Pick up the hand-sized bottle with ridged bottom and the shiny red bottle in parallel."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000041.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000041.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e674dc6bc184c9044c70a67796e78f2659f5c39
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000041.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure both the bottle with green cap and the beverage bottle with black body simultaneously.",
+    "Grasp the dark brown bottle with a squared body as the other arm grasps the drink bottle with rounded yellow lid.",
+    "Use one arm for the dark brown bottle with a squared body and the other for the yellow-capped cylindrical bottle.",
+    "Lift the rectangular-shaped bottle with round cap and the bottle with blue and yellow print together with both arms.",
+    "Reach for the dark brown bottle with a squared body and the yellow-capped cylindrical bottle with both arms at once.",
+    "Pick the plastic bottle while the other arm picks the black bottle.",
+    "Assign one arm to the brown bottle and one to the medium black bottle with printed label.",
+    "Pick up the dark brown bottle with a squared body and the smooth black bottle with ridges simultaneously.",
+    "Use separate arms to lift the smooth plastic bottle with white cap and the bottle with blue and yellow print.",
+    "Pick the medium-sized brown plastic bottle and the bottle with blue and yellow print up in parallel.",
+    "Grab the brown bottle with rounded rectangular shape and the black bottle at the same time.",
+    "Simultaneously grasp and lift the bottle with green cap and the yellow-capped cylindrical bottle.",
+    "Take hold of the brown bottle and the yellow capped drink bottle at once.",
+    "Use both arms simultaneously for the brown bottle with rounded rectangular shape and the beverage bottle with black body.",
+    "Each arm should grab one bottle: the medium-sized brown plastic bottle and the beverage bottle with black body.",
+    "Lift both different bottles, the bottle with green cap and the beverage bottle with black body, together.",
+    "Raise both bottles at once: the rectangular-shaped bottle with round cap and the smooth black bottle with ridges.",
+    "Take the medium bottle with glossy surface and the beverage bottle with black body together, one per arm.",
+    "Use both arms to grasp the medium bottle with glossy surface and the yellow capped drink bottle together.",
+    "Raise the plastic bottle with one arm and the yellow capped drink bottle with the other.",
+    "Raise the rectangular brown body with white top and the yellow capped drink bottle at the same time.",
+    "Pick up the pair the dark brown bottle with a squared body and the bottle with blue and yellow print together.",
+    "Hold the plastic bottle in one arm and the black cylindrical bottle with ridges in the other.",
+    "Pick up both the rectangular brown body with white top and the beverage bottle with black body using separate arms.",
+    "Grab both bottles in parallel, the rectangular brown body with white top and the black cylindrical bottle with ridges.",
+    "Hold both the smooth brown bottle with green label and the black cylindrical bottle with ridges, one in each arm.",
+    "Use each arm to secure one of the rectangular-shaped bottle with round cap and the black plastic bottle with Pepsi logo.",
+    "Grasp the different bottles the smooth brown bottle with green label and the beverage bottle with black body simultaneously.",
+    "Catch the dark brown bottle with a squared body and the black bottle together.",
+    "Lift the rectangular-shaped bottle with round cap and the drink bottle with rounded yellow lid in one synchronized motion.",
+    "Secure both the bottle with flat sides and logo and the beverage bottle with black body simultaneously.",
+    "Grasp the plastic bottle as the other arm grasps the black plastic bottle with Pepsi logo.",
+    "Use one arm for the rectangular brown body with white top and the other for the beverage bottle with black body.",
+    "Lift the smooth plastic bottle with white cap and the drink bottle with rounded yellow lid together with both arms.",
+    "Reach for the bottle with green cap and the medium black bottle with printed label with both arms at once.",
+    "Pick the medium bottle with glossy surface while the other arm picks the black plastic bottle with Pepsi logo.",
+    "Assign one arm to the brown bottle with rounded rectangular shape and one to the medium bottle with yellow cap.",
+    "Pick up the rectangular-shaped bottle with round cap and the medium bottle with yellow cap simultaneously.",
+    "Use separate arms to lift the brown bottle and the black cylindrical bottle with ridges.",
+    "Pick the medium-sized brown plastic bottle and the medium bottle with yellow cap up in parallel.",
+    "Grab the medium-sized brown plastic bottle and the drink bottle with rounded yellow lid at the same time.",
+    "Simultaneously grasp and lift the brown bottle and the black cylindrical bottle with ridges.",
+    "Take hold of the rectangular brown body with white top and the yellow-capped cylindrical bottle at once.",
+    "Use both arms simultaneously for the medium-sized brown plastic bottle and the black bottle.",
+    "Each arm should grab one bottle: the rectangular-shaped bottle with round cap and the drink bottle with rounded yellow lid.",
+    "Lift both different bottles, the bottle with flat sides and logo and the yellow-capped cylindrical bottle, together.",
+    "Raise both bottles at once: the rectangular-shaped bottle with round cap and the yellow-capped cylindrical bottle.",
+    "Take the bottle with flat sides and logo and the beverage bottle with black body together, one per arm.",
+    "Use both arms to grasp the medium bottle with glossy surface and the plastic bottle with colorful label together.",
+    "Raise the smooth brown bottle with green label with one arm and the medium black bottle with printed label with the other.",
+    "Raise the medium-sized brown plastic bottle and the smooth black bottle with ridges at the same time.",
+    "Pick up the pair the dark brown bottle with a squared body and the beverage bottle with black body together.",
+    "Hold the rectangular brown body with white top in one arm and the yellow-capped cylindrical bottle in the other.",
+    "Pick up both the plastic bottle and the yellow capped drink bottle using separate arms.",
+    "Grab both bottles in parallel, the rectangular-shaped bottle with round cap and the black bottle.",
+    "Hold both the brown bottle and the medium black bottle with printed label, one in each arm.",
+    "Use each arm to secure one of the bottle with green cap and the medium bottle with yellow cap.",
+    "Grasp the different bottles the brown bottle with rounded rectangular shape and the black plastic bottle with Pepsi logo simultaneously.",
+    "Catch the medium bottle with glossy surface and the drink bottle with rounded yellow lid together.",
+    "Lift the dark brown bottle with a squared body and the plastic bottle with colorful label in one synchronized motion.",
+    "Secure both the smooth brown bottle with green label and the black cylindrical bottle with ridges simultaneously.",
+    "Grasp the smooth brown bottle with green label as the other arm grasps the yellow capped drink bottle.",
+    "Use one arm for the smooth brown bottle with green label and the other for the medium bottle with yellow cap.",
+    "Lift the rectangular-shaped bottle with round cap and the yellow capped drink bottle together with both arms.",
+    "Reach for the medium-sized brown plastic bottle and the bottle with blue and yellow print with both arms at once.",
+    "Pick the bottle with flat sides and logo while the other arm picks the yellow-capped cylindrical bottle.",
+    "Assign one arm to the bottle with flat sides and logo and one to the black plastic bottle with Pepsi logo.",
+    "Pick up the smooth brown bottle with green label and the beverage bottle with black body simultaneously.",
+    "Use separate arms to lift the plastic bottle and the medium black bottle with printed label.",
+    "Pick the plastic bottle and the medium black bottle with printed label up in parallel.",
+    "Grab the smooth plastic bottle with white cap and the yellow capped drink bottle at the same time.",
+    "Simultaneously grasp and lift the medium bottle with glossy surface and the drink bottle with rounded yellow lid.",
+    "Take hold of the brown bottle with rounded rectangular shape and the beverage bottle with black body at once.",
+    "Use both arms simultaneously for the brown bottle with rounded rectangular shape and the black plastic bottle with Pepsi logo.",
+    "Each arm should grab one bottle: the dark brown bottle with a squared body and the black cylindrical bottle with ridges.",
+    "Lift both different bottles, the smooth brown bottle with green label and the beverage bottle with black body, together.",
+    "Raise both bottles at once: the rectangular-shaped bottle with round cap and the medium black bottle with printed label.",
+    "Take the bottle with flat sides and logo and the medium black bottle with printed label together, one per arm.",
+    "Use both arms to grasp the smooth plastic bottle with white cap and the drink bottle with rounded yellow lid together.",
+    "Raise the brown bottle with one arm and the yellow capped drink bottle with the other.",
+    "Raise the dark brown bottle with a squared body and the yellow-capped cylindrical bottle at the same time.",
+    "Pick up the pair the medium-sized brown plastic bottle and the drink bottle with rounded yellow lid together.",
+    "Hold the smooth brown bottle with green label in one arm and the black plastic bottle with Pepsi logo in the other.",
+    "Pick up both the brown bottle with rounded rectangular shape and the yellow capped drink bottle using separate arms.",
+    "Grab both bottles in parallel, the bottle with green cap and the drink bottle with rounded yellow lid.",
+    "Hold both the smooth plastic bottle with white cap and the yellow-capped cylindrical bottle, one in each arm.",
+    "Use each arm to secure one of the rectangular-shaped bottle with round cap and the black plastic bottle with Pepsi logo.",
+    "Grasp the different bottles the medium bottle with glossy surface and the smooth black bottle with ridges simultaneously.",
+    "Catch the plastic bottle and the yellow capped drink bottle together.",
+    "Lift the smooth brown bottle with green label and the medium black bottle with printed label in one synchronized motion.",
+    "Secure both the medium bottle with glossy surface and the yellow-capped cylindrical bottle simultaneously.",
+    "Grasp the brown bottle as the other arm grasps the plastic bottle with colorful label.",
+    "Use one arm for the smooth plastic bottle with white cap and the other for the black cylindrical bottle with ridges.",
+    "Lift the rectangular brown body with white top and the black plastic bottle with Pepsi logo together with both arms.",
+    "Reach for the rectangular-shaped bottle with round cap and the yellow capped drink bottle with both arms at once.",
+    "Pick the rectangular brown body with white top while the other arm picks the medium bottle with yellow cap.",
+    "Assign one arm to the rectangular brown body with white top and one to the black cylindrical bottle with ridges.",
+    "Pick up the rectangular-shaped bottle with round cap and the medium black bottle with printed label simultaneously.",
+    "Use separate arms to lift the smooth brown bottle with green label and the yellow capped drink bottle.",
+    "Pick the smooth brown bottle with green label and the bottle with blue and yellow print up in parallel."
+  ],
+  "unseen": [
+    "Pick up both the liquid container dark brown plastic and the hand-sized bottle with ridged bottom together.",
+    "Use one arm for the liquid container dark brown plastic and the other for the plastic bottle with blue label.",
+    "Grab the bottle with green label and white lid and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the bottle with green label and white lid and the hand-sized bottle with ridged bottom in parallel.",
+    "Raise both different bottles, the medium-sized plastic bottle with capped top and the bottle with ridges near base, together.",
+    "Lift the medium-sized plastic bottle with capped top and the bottle with ridges near base simultaneously with separate arms.",
+    "Grasp the bottle with green label and white lid and the bottle with ridges near base simultaneously.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the bottle with ridges near base.",
+    "Take hold of the liquid container dark brown plastic and the plastic bottle with blue label at once.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with ridges near base.",
+    "Pick up both the liquid container dark brown plastic and the hand-sized bottle with ridged bottom together.",
+    "Use one arm for the medium-sized plastic bottle with capped top and the other for the bottle with ridges near base.",
+    "Grab the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the medium-sized plastic bottle with capped top and the bottle with ridges near base in parallel.",
+    "Raise both different bottles, the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom, together.",
+    "Lift the liquid container dark brown plastic and the plastic bottle with blue label simultaneously with separate arms.",
+    "Grasp the medium-sized plastic bottle with capped top and the plastic bottle with blue label simultaneously.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the plastic bottle with blue label.",
+    "Take hold of the liquid container dark brown plastic and the hand-sized bottle with ridged bottom at once.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the bottle with ridges near base.",
+    "Pick up both the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom together.",
+    "Use one arm for the bottle with green label and white lid and the other for the plastic bottle with blue label.",
+    "Grab the bottle with green label and white lid and the plastic bottle with blue label at the same time.",
+    "Pick up the liquid container dark brown plastic and the hand-sized bottle with ridged bottom in parallel.",
+    "Raise both different bottles, the liquid container dark brown plastic and the plastic bottle with blue label, together.",
+    "Lift the bottle with green label and white lid and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Grasp the medium-sized plastic bottle with capped top and the bottle with ridges near base simultaneously.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the bottle with ridges near base.",
+    "Take hold of the liquid container dark brown plastic and the hand-sized bottle with ridged bottom at once.",
+    "Use each arm to grab one of the bottle with green label and white lid and the bottle with ridges near base.",
+    "Pick up both the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom together.",
+    "Use one arm for the medium-sized plastic bottle with capped top and the other for the bottle with ridges near base.",
+    "Grab the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom in parallel.",
+    "Raise both different bottles, the medium-sized plastic bottle with capped top and the plastic bottle with blue label, together.",
+    "Lift the liquid container dark brown plastic and the bottle with ridges near base simultaneously with separate arms.",
+    "Grasp the bottle with green label and white lid and the plastic bottle with blue label simultaneously.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Take hold of the liquid container dark brown plastic and the plastic bottle with blue label at once.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the plastic bottle with blue label.",
+    "Pick up both the bottle with green label and white lid and the bottle with ridges near base together.",
+    "Use one arm for the liquid container dark brown plastic and the other for the plastic bottle with blue label.",
+    "Grab the bottle with green label and white lid and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the liquid container dark brown plastic and the plastic bottle with blue label in parallel.",
+    "Raise both different bottles, the medium-sized plastic bottle with capped top and the plastic bottle with blue label, together.",
+    "Lift the liquid container dark brown plastic and the bottle with ridges near base simultaneously with separate arms.",
+    "Grasp the bottle with green label and white lid and the plastic bottle with blue label simultaneously.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the plastic bottle with blue label.",
+    "Take hold of the liquid container dark brown plastic and the hand-sized bottle with ridged bottom at once.",
+    "Use each arm to grab one of the bottle with green label and white lid and the bottle with ridges near base.",
+    "Pick up both the liquid container dark brown plastic and the plastic bottle with blue label together.",
+    "Use one arm for the medium-sized plastic bottle with capped top and the other for the bottle with ridges near base.",
+    "Grab the bottle with green label and white lid and the bottle with ridges near base at the same time.",
+    "Pick up the bottle with green label and white lid and the plastic bottle with blue label in parallel.",
+    "Raise both different bottles, the bottle with green label and white lid and the bottle with ridges near base, together.",
+    "Lift the liquid container dark brown plastic and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Grasp the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom simultaneously.",
+    "Lift the liquid container dark brown plastic as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Take hold of the medium-sized plastic bottle with capped top and the plastic bottle with blue label at once.",
+    "Use each arm to grab one of the bottle with green label and white lid and the plastic bottle with blue label.",
+    "Pick up both the bottle with green label and white lid and the plastic bottle with blue label together.",
+    "Use one arm for the liquid container dark brown plastic and the other for the hand-sized bottle with ridged bottom.",
+    "Grab the bottle with green label and white lid and the plastic bottle with blue label at the same time.",
+    "Pick up the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom in parallel.",
+    "Raise both different bottles, the bottle with green label and white lid and the hand-sized bottle with ridged bottom, together.",
+    "Lift the medium-sized plastic bottle with capped top and the bottle with ridges near base simultaneously with separate arms.",
+    "Grasp the bottle with green label and white lid and the bottle with ridges near base simultaneously.",
+    "Lift the medium-sized plastic bottle with capped top as the other arm lifts the bottle with ridges near base.",
+    "Take hold of the liquid container dark brown plastic and the hand-sized bottle with ridged bottom at once.",
+    "Use each arm to grab one of the liquid container dark brown plastic and the hand-sized bottle with ridged bottom.",
+    "Pick up both the liquid container dark brown plastic and the hand-sized bottle with ridged bottom together.",
+    "Use one arm for the liquid container dark brown plastic and the other for the plastic bottle with blue label.",
+    "Grab the liquid container dark brown plastic and the plastic bottle with blue label at the same time.",
+    "Pick up the liquid container dark brown plastic and the plastic bottle with blue label in parallel.",
+    "Raise both different bottles, the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom, together.",
+    "Lift the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Grasp the liquid container dark brown plastic and the hand-sized bottle with ridged bottom simultaneously.",
+    "Lift the bottle with green label and white lid as the other arm lifts the bottle with ridges near base.",
+    "Take hold of the medium-sized plastic bottle with capped top and the bottle with ridges near base at once.",
+    "Use each arm to grab one of the bottle with green label and white lid and the plastic bottle with blue label.",
+    "Pick up both the medium-sized plastic bottle with capped top and the plastic bottle with blue label together.",
+    "Use one arm for the bottle with green label and white lid and the other for the bottle with ridges near base.",
+    "Grab the liquid container dark brown plastic and the hand-sized bottle with ridged bottom at the same time.",
+    "Pick up the medium-sized plastic bottle with capped top and the plastic bottle with blue label in parallel.",
+    "Raise both different bottles, the liquid container dark brown plastic and the hand-sized bottle with ridged bottom, together.",
+    "Lift the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Grasp the bottle with green label and white lid and the hand-sized bottle with ridged bottom simultaneously.",
+    "Lift the bottle with green label and white lid as the other arm lifts the bottle with ridges near base.",
+    "Take hold of the medium-sized plastic bottle with capped top and the plastic bottle with blue label at once.",
+    "Use each arm to grab one of the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom.",
+    "Pick up both the bottle with green label and white lid and the plastic bottle with blue label together.",
+    "Use one arm for the medium-sized plastic bottle with capped top and the other for the plastic bottle with blue label.",
+    "Grab the medium-sized plastic bottle with capped top and the plastic bottle with blue label at the same time.",
+    "Pick up the liquid container dark brown plastic and the bottle with ridges near base in parallel.",
+    "Raise both different bottles, the liquid container dark brown plastic and the plastic bottle with blue label, together.",
+    "Lift the liquid container dark brown plastic and the plastic bottle with blue label simultaneously with separate arms.",
+    "Grasp the liquid container dark brown plastic and the plastic bottle with blue label simultaneously.",
+    "Lift the bottle with green label and white lid as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Take hold of the medium-sized plastic bottle with capped top and the plastic bottle with blue label at once.",
+    "Use each arm to grab one of the medium-sized plastic bottle with capped top and the hand-sized bottle with ridged bottom."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000042.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000042.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dc508144ec93312df89149e67d00e39e1830d29
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000042.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the yellow capped drink bottle and the other for the smooth plastic bottle.",
+    "Each arm should grab one bottle: the black bottle and the smooth plastic bottle.",
+    "Grab the drink bottle with rounded yellow lid and the plastic bottle at the same time.",
+    "Grasp the medium black bottle with printed label as the other arm grasps the cylindrical orange and white bottle.",
+    "Hold the bottle with blue and yellow print in one arm and the medium orange bottle in the other.",
+    "Simultaneously grasp and lift the yellow-capped cylindrical bottle and the white and orange plastic bottle.",
+    "Use each arm to secure one of the beverage bottle with black body and the white and orange plastic bottle.",
+    "Pick the black bottle while the other arm picks the cylindrical orange and white bottle.",
+    "Reach for the yellow-capped cylindrical bottle and the yellow label bottle with both arms at once.",
+    "Lift the black plastic bottle with Pepsi logo and the medium orange bottle in one synchronized motion.",
+    "Use both arms to grasp the smooth black bottle with ridges and the drinking bottle with yellow label together.",
+    "Use both arms simultaneously for the black plastic bottle with Pepsi logo and the orange bottle.",
+    "Hold both the beverage bottle with black body and the smooth plastic bottle, one in each arm.",
+    "Pick up the plastic bottle with colorful label and the medium bottle with orange lid simultaneously.",
+    "Lift the black cylindrical bottle with ridges and the bottle with ribbed orange bottom together with both arms.",
+    "Lift both different bottles, the bottle with blue and yellow print and the cylindrical orange and white bottle, together.",
+    "Grab both bottles in parallel, the smooth black bottle with ridges and the bottle with orange cap.",
+    "Pick up both the black bottle and the medium bottle with orange lid using separate arms.",
+    "Pick up the pair the smooth black bottle with ridges and the smooth plastic bottle together.",
+    "Assign one arm to the plastic bottle with colorful label and one to the smooth plastic bottle.",
+    "Secure both the yellow-capped cylindrical bottle and the medium orange bottle simultaneously.",
+    "Take the plastic bottle with colorful label and the orange bottle together, one per arm.",
+    "Use separate arms to lift the smooth black bottle with ridges and the orange bottle.",
+    "Take hold of the yellow-capped cylindrical bottle and the drinking bottle with yellow label at once.",
+    "Raise the yellow capped drink bottle with one arm and the yellow label bottle with the other.",
+    "Raise the medium black bottle with printed label and the medium bottle with orange lid at the same time.",
+    "Raise both bottles at once: the yellow capped drink bottle and the medium orange bottle.",
+    "Pick the smooth black bottle with ridges and the orange bottle up in parallel.",
+    "Grasp the different bottles the yellow-capped cylindrical bottle and the bottle with ribbed orange bottom simultaneously.",
+    "Catch the black bottle and the orange and white bottle with cap together.",
+    "Use one arm for the black plastic bottle with Pepsi logo and the other for the drinking bottle with yellow label.",
+    "Each arm should grab one bottle: the black bottle and the smooth plastic bottle.",
+    "Grab the black cylindrical bottle with ridges and the smooth plastic bottle at the same time.",
+    "Grasp the black plastic bottle with Pepsi logo as the other arm grasps the white and orange plastic bottle.",
+    "Hold the smooth black bottle with ridges in one arm and the smooth plastic bottle in the other.",
+    "Simultaneously grasp and lift the medium bottle with yellow cap and the medium bottle with orange lid.",
+    "Use each arm to secure one of the beverage bottle with black body and the bottle with ribbed orange bottom.",
+    "Pick the medium black bottle with printed label while the other arm picks the cylindrical orange and white bottle.",
+    "Reach for the bottle with blue and yellow print and the bottle with orange cap with both arms at once.",
+    "Lift the bottle with blue and yellow print and the yellow label bottle in one synchronized motion.",
+    "Use both arms to grasp the black cylindrical bottle with ridges and the orange and white bottle with cap together.",
+    "Use both arms simultaneously for the black bottle and the medium orange bottle.",
+    "Hold both the beverage bottle with black body and the plastic bottle, one in each arm.",
+    "Pick up the bottle with blue and yellow print and the bottle with orange cap simultaneously.",
+    "Lift the black plastic bottle with Pepsi logo and the cylindrical orange and white bottle together with both arms.",
+    "Lift both different bottles, the black bottle and the drinking bottle with yellow label, together.",
+    "Grab both bottles in parallel, the beverage bottle with black body and the medium bottle with orange lid.",
+    "Pick up both the bottle with blue and yellow print and the white and orange plastic bottle using separate arms.",
+    "Pick up the pair the drink bottle with rounded yellow lid and the yellow label bottle together.",
+    "Assign one arm to the bottle with blue and yellow print and one to the drinking bottle with yellow label.",
+    "Secure both the bottle with blue and yellow print and the bottle with orange cap simultaneously.",
+    "Take the smooth black bottle with ridges and the orange and white bottle with cap together, one per arm.",
+    "Use separate arms to lift the black cylindrical bottle with ridges and the drinking bottle with yellow label.",
+    "Take hold of the black bottle and the cylindrical orange and white bottle at once.",
+    "Raise the plastic bottle with colorful label with one arm and the orange and white bottle with cap with the other.",
+    "Raise the beverage bottle with black body and the orange bottle at the same time.",
+    "Raise both bottles at once: the yellow-capped cylindrical bottle and the white and orange plastic bottle.",
+    "Pick the plastic bottle with colorful label and the medium orange bottle up in parallel.",
+    "Grasp the different bottles the beverage bottle with black body and the orange bottle simultaneously.",
+    "Catch the black cylindrical bottle with ridges and the bottle with ribbed orange bottom together.",
+    "Use one arm for the bottle with blue and yellow print and the other for the plastic bottle.",
+    "Each arm should grab one bottle: the drink bottle with rounded yellow lid and the drinking bottle with yellow label.",
+    "Grab the beverage bottle with black body and the medium bottle with orange lid at the same time.",
+    "Grasp the drink bottle with rounded yellow lid as the other arm grasps the drinking bottle with yellow label.",
+    "Hold the black cylindrical bottle with ridges in one arm and the cylindrical orange and white bottle in the other.",
+    "Simultaneously grasp and lift the medium bottle with yellow cap and the medium bottle with orange lid.",
+    "Use each arm to secure one of the yellow-capped cylindrical bottle and the medium bottle with orange lid.",
+    "Pick the medium bottle with yellow cap while the other arm picks the orange and white bottle with cap.",
+    "Reach for the plastic bottle with colorful label and the white and orange plastic bottle with both arms at once.",
+    "Lift the beverage bottle with black body and the drinking bottle with yellow label in one synchronized motion.",
+    "Use both arms to grasp the plastic bottle with colorful label and the drinking bottle with yellow label together.",
+    "Use both arms simultaneously for the plastic bottle with colorful label and the cylindrical orange and white bottle.",
+    "Hold both the black plastic bottle with Pepsi logo and the plastic bottle, one in each arm.",
+    "Pick up the beverage bottle with black body and the orange and white bottle with cap simultaneously.",
+    "Lift the smooth black bottle with ridges and the medium bottle with orange lid together with both arms.",
+    "Lift both different bottles, the black bottle and the smooth plastic bottle, together.",
+    "Grab both bottles in parallel, the black plastic bottle with Pepsi logo and the medium orange bottle.",
+    "Pick up both the medium bottle with yellow cap and the smooth plastic bottle using separate arms.",
+    "Pick up the pair the medium black bottle with printed label and the drinking bottle with yellow label together.",
+    "Assign one arm to the black cylindrical bottle with ridges and one to the medium bottle with orange lid.",
+    "Secure both the black plastic bottle with Pepsi logo and the cylindrical orange and white bottle simultaneously.",
+    "Take the yellow capped drink bottle and the smooth plastic bottle together, one per arm.",
+    "Use separate arms to lift the medium bottle with yellow cap and the orange bottle.",
+    "Take hold of the smooth black bottle with ridges and the bottle with orange cap at once.",
+    "Raise the smooth black bottle with ridges with one arm and the orange bottle with the other.",
+    "Raise the yellow capped drink bottle and the bottle with ribbed orange bottom at the same time.",
+    "Raise both bottles at once: the smooth black bottle with ridges and the cylindrical orange and white bottle.",
+    "Pick the yellow-capped cylindrical bottle and the orange and white bottle with cap up in parallel.",
+    "Grasp the different bottles the drink bottle with rounded yellow lid and the orange bottle simultaneously.",
+    "Catch the drink bottle with rounded yellow lid and the smooth plastic bottle together.",
+    "Use one arm for the medium bottle with yellow cap and the other for the orange bottle.",
+    "Each arm should grab one bottle: the beverage bottle with black body and the cylindrical orange and white bottle.",
+    "Grab the black cylindrical bottle with ridges and the white and orange plastic bottle at the same time.",
+    "Grasp the medium black bottle with printed label as the other arm grasps the smooth plastic bottle.",
+    "Hold the beverage bottle with black body in one arm and the yellow label bottle in the other.",
+    "Simultaneously grasp and lift the drink bottle with rounded yellow lid and the drinking bottle with yellow label.",
+    "Use each arm to secure one of the black plastic bottle with Pepsi logo and the yellow label bottle.",
+    "Pick the plastic bottle with colorful label while the other arm picks the orange bottle.",
+    "Reach for the black cylindrical bottle with ridges and the drinking bottle with yellow label with both arms at once.",
+    "Lift the drink bottle with rounded yellow lid and the plastic bottle in one synchronized motion."
+  ],
+  "unseen": [
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with curved body.",
+    "Take hold of the plastic bottle with blue label and the bottle with yellow sticker label at once.",
+    "Pick up the bottle with ridges near base and the bottle with curved body in parallel.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the bottle with curved body.",
+    "Lift the plastic bottle with blue label as the other arm lifts the bottle with curved body.",
+    "Grasp the plastic bottle with blue label and the curvy orange bottle with white section simultaneously.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with yellow sticker label together.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow sticker label, together.",
+    "Grab the plastic bottle with blue label and the bottle with yellow sticker label at the same time.",
+    "Lift the bottle with ridges near base and the bottle with curved body simultaneously with separate arms.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with yellow sticker label.",
+    "Take hold of the hand-sized bottle with ridged bottom and the bottle with yellow sticker label at once.",
+    "Pick up the bottle with ridges near base and the bottle with curved body in parallel.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the bottle with curved body.",
+    "Lift the plastic bottle with blue label as the other arm lifts the bottle with yellow sticker label.",
+    "Grasp the bottle with ridges near base and the curvy orange bottle with white section simultaneously.",
+    "Pick up both the bottle with ridges near base and the curvy orange bottle with white section together.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the bottle with yellow sticker label, together.",
+    "Grab the bottle with ridges near base and the curvy orange bottle with white section at the same time.",
+    "Lift the plastic bottle with blue label and the bottle with curved body simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridges near base and the bottle with curved body.",
+    "Take hold of the plastic bottle with blue label and the bottle with curved body at once.",
+    "Pick up the hand-sized bottle with ridged bottom and the curvy orange bottle with white section in parallel.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with curved body.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the bottle with yellow sticker label.",
+    "Grasp the bottle with ridges near base and the bottle with yellow sticker label simultaneously.",
+    "Pick up both the plastic bottle with blue label and the bottle with yellow sticker label together.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow sticker label, together.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with yellow sticker label at the same time.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with curved body simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridges near base and the bottle with yellow sticker label.",
+    "Take hold of the bottle with ridges near base and the bottle with curved body at once.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with curved body in parallel.",
+    "Use one arm for the plastic bottle with blue label and the other for the bottle with yellow sticker label.",
+    "Lift the bottle with ridges near base as the other arm lifts the curvy orange bottle with white section.",
+    "Grasp the plastic bottle with blue label and the bottle with yellow sticker label simultaneously.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with yellow sticker label together.",
+    "Raise both different bottles, the plastic bottle with blue label and the curvy orange bottle with white section, together.",
+    "Grab the plastic bottle with blue label and the bottle with curved body at the same time.",
+    "Lift the hand-sized bottle with ridged bottom and the bottle with curved body simultaneously with separate arms.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the curvy orange bottle with white section.",
+    "Take hold of the hand-sized bottle with ridged bottom and the bottle with yellow sticker label at once.",
+    "Pick up the hand-sized bottle with ridged bottom and the curvy orange bottle with white section in parallel.",
+    "Use one arm for the plastic bottle with blue label and the other for the curvy orange bottle with white section.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with yellow sticker label.",
+    "Grasp the plastic bottle with blue label and the bottle with curved body simultaneously.",
+    "Pick up both the bottle with ridges near base and the bottle with yellow sticker label together.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the bottle with curved body, together.",
+    "Grab the hand-sized bottle with ridged bottom and the bottle with yellow sticker label at the same time.",
+    "Lift the bottle with ridges near base and the bottle with yellow sticker label simultaneously with separate arms.",
+    "Use each arm to grab one of the bottle with ridges near base and the curvy orange bottle with white section.",
+    "Take hold of the plastic bottle with blue label and the bottle with curved body at once.",
+    "Pick up the bottle with ridges near base and the curvy orange bottle with white section in parallel.",
+    "Use one arm for the plastic bottle with blue label and the other for the curvy orange bottle with white section.",
+    "Lift the plastic bottle with blue label as the other arm lifts the curvy orange bottle with white section.",
+    "Grasp the bottle with ridges near base and the bottle with curved body simultaneously.",
+    "Pick up both the bottle with ridges near base and the curvy orange bottle with white section together.",
+    "Raise both different bottles, the hand-sized bottle with ridged bottom and the curvy orange bottle with white section, together.",
+    "Grab the plastic bottle with blue label and the bottle with curved body at the same time.",
+    "Lift the bottle with ridges near base and the bottle with yellow sticker label simultaneously with separate arms.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with yellow sticker label.",
+    "Take hold of the bottle with ridges near base and the bottle with yellow sticker label at once.",
+    "Pick up the hand-sized bottle with ridged bottom and the bottle with curved body in parallel.",
+    "Use one arm for the hand-sized bottle with ridged bottom and the other for the curvy orange bottle with white section.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the bottle with curved body.",
+    "Grasp the hand-sized bottle with ridged bottom and the curvy orange bottle with white section simultaneously.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with yellow sticker label together.",
+    "Raise both different bottles, the bottle with ridges near base and the bottle with yellow sticker label, together.",
+    "Grab the hand-sized bottle with ridged bottom and the curvy orange bottle with white section at the same time.",
+    "Lift the plastic bottle with blue label and the bottle with curved body simultaneously with separate arms.",
+    "Use each arm to grab one of the plastic bottle with blue label and the bottle with yellow sticker label.",
+    "Take hold of the bottle with ridges near base and the curvy orange bottle with white section at once.",
+    "Pick up the plastic bottle with blue label and the bottle with yellow sticker label in parallel.",
+    "Use one arm for the bottle with ridges near base and the other for the bottle with curved body.",
+    "Lift the hand-sized bottle with ridged bottom as the other arm lifts the bottle with curved body.",
+    "Grasp the bottle with ridges near base and the curvy orange bottle with white section simultaneously.",
+    "Pick up both the bottle with ridges near base and the bottle with yellow sticker label together.",
+    "Raise both different bottles, the bottle with ridges near base and the bottle with curved body, together.",
+    "Grab the bottle with ridges near base and the curvy orange bottle with white section at the same time.",
+    "Lift the plastic bottle with blue label and the bottle with curved body simultaneously with separate arms.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the bottle with curved body.",
+    "Take hold of the hand-sized bottle with ridged bottom and the bottle with yellow sticker label at once.",
+    "Pick up the plastic bottle with blue label and the bottle with yellow sticker label in parallel.",
+    "Use one arm for the plastic bottle with blue label and the other for the bottle with yellow sticker label.",
+    "Lift the bottle with ridges near base as the other arm lifts the bottle with yellow sticker label.",
+    "Grasp the plastic bottle with blue label and the curvy orange bottle with white section simultaneously.",
+    "Pick up both the hand-sized bottle with ridged bottom and the bottle with curved body together.",
+    "Raise both different bottles, the plastic bottle with blue label and the bottle with yellow sticker label, together.",
+    "Grab the plastic bottle with blue label and the bottle with yellow sticker label at the same time.",
+    "Lift the plastic bottle with blue label and the bottle with curved body simultaneously with separate arms.",
+    "Use each arm to grab one of the hand-sized bottle with ridged bottom and the bottle with curved body.",
+    "Take hold of the bottle with ridges near base and the bottle with curved body at once.",
+    "Pick up the plastic bottle with blue label and the curvy orange bottle with white section in parallel.",
+    "Use one arm for the plastic bottle with blue label and the other for the bottle with curved body.",
+    "Lift the plastic bottle with blue label as the other arm lifts the curvy orange bottle with white section.",
+    "Grasp the hand-sized bottle with ridged bottom and the curvy orange bottle with white section simultaneously.",
+    "Pick up both the bottle with ridges near base and the bottle with curved body together.",
+    "Raise both different bottles, the plastic bottle with blue label and the curvy orange bottle with white section, together.",
+    "Grab the plastic bottle with blue label and the curvy orange bottle with white section at the same time.",
+    "Lift the bottle with ridges near base and the bottle with curved body simultaneously with separate arms."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000043.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000043.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd22a485e167f650879488a381769a47b5f740de
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000043.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the pair the grooved orange drink bottle and the white bottle with blue accents together.",
+    "Pick up the smooth orange bottle and the blue bottle with label simultaneously.",
+    "Use each arm to secure one of the curved orange soda bottle and the medium bottle for beverages.",
+    "Grab both bottles in parallel, the cylindrical orange plastic bottle and the medium bottle for beverages.",
+    "Assign one arm to the orange bottle and one to the bottle with blue cap.",
+    "Simultaneously grasp and lift the plastic bottle and the handheld bottle.",
+    "Each arm should grab one bottle: the medium bottle with colorful label and the white bottle with blue accents.",
+    "Grab the round-bottom bottle with white cap and the bottle with blue cap at the same time.",
+    "Catch the round-bottom bottle with white cap and the white bottle with blue accents together.",
+    "Pick up both the light and medium-sized bottle and the white bottle with blue accents using separate arms.",
+    "Lift both different bottles, the grooved orange drink bottle and the medium-sized bottle, together.",
+    "Use both arms to grasp the cylindrical orange plastic bottle and the handheld bottle together.",
+    "Use separate arms to lift the bottle for holding drinks and the bottle for liquids.",
+    "Secure both the round-bottom bottle with white cap and the bottle with blue cap simultaneously.",
+    "Hold both the round-bottom bottle with white cap and the bottle for liquids, one in each arm.",
+    "Raise the ridged orange bottle with grooves with one arm and the medium bottle for beverages with the other.",
+    "Reach for the orange bottle and the bottle for liquids with both arms at once.",
+    "Pick the cylindrical orange plastic bottle and the white bottle with blue accents up in parallel.",
+    "Raise both bottles at once: the curved orange soda bottle and the white and blue bottle.",
+    "Raise the smooth orange bottle and the plastic bottle at the same time.",
+    "Lift the light and medium-sized bottle and the cylindrical bottle together with both arms.",
+    "Pick the curved orange soda bottle while the other arm picks the white and blue bottle.",
+    "Hold the ridged orange bottle with grooves in one arm and the bottle for liquids in the other.",
+    "Use one arm for the light and medium-sized bottle and the other for the medium bottle for beverages.",
+    "Lift the bottle for holding drinks and the white bottle with blue accents in one synchronized motion.",
+    "Grasp the different bottles the round-bottom bottle with white cap and the white and blue bottle simultaneously.",
+    "Take hold of the grooved orange drink bottle and the cylindrical bottle at once.",
+    "Grasp the medium bottle with colorful label as the other arm grasps the white and blue bottle.",
+    "Take the bottle for holding drinks and the plastic bottle together, one per arm.",
+    "Use both arms simultaneously for the round-bottom bottle with white cap and the smooth plastic bottle.",
+    "Pick up the pair the cylindrical orange plastic bottle and the medium-sized bottle together.",
+    "Pick up the grooved orange drink bottle and the cylindrical bottle simultaneously.",
+    "Use each arm to secure one of the bottle for holding drinks and the blue bottle with label.",
+    "Grab both bottles in parallel, the medium bottle with colorful label and the blue bottle with label.",
+    "Assign one arm to the medium bottle with colorful label and one to the bottle with blue cap.",
+    "Simultaneously grasp and lift the round-bottom bottle with white cap and the medium bottle for beverages.",
+    "Each arm should grab one bottle: the orange drink bottle with label and the blue bottle with label.",
+    "Grab the bottle for holding drinks and the blue bottle with label at the same time.",
+    "Catch the orange drink bottle with label and the white bottle with blue accents together.",
+    "Pick up both the orange drink bottle with label and the bottle for liquids using separate arms.",
+    "Lift both different bottles, the round-bottom bottle with white cap and the bottle with blue cap, together.",
+    "Use both arms to grasp the smooth orange bottle and the bottle for liquids together.",
+    "Use separate arms to lift the light and medium-sized bottle and the smooth plastic bottle.",
+    "Secure both the curved orange soda bottle and the bottle for liquids simultaneously.",
+    "Hold both the plastic bottle and the blue bottle, one in each arm.",
+    "Raise the cylindrical orange plastic bottle with one arm and the bottle with blue cap with the other.",
+    "Reach for the ridged orange bottle with grooves and the white and blue bottle with both arms at once.",
+    "Pick the light and medium-sized bottle and the blue bottle with label up in parallel.",
+    "Raise both bottles at once: the medium bottle with colorful label and the plastic bottle.",
+    "Raise the bottle for holding drinks and the white bottle with blue accents at the same time.",
+    "Lift the curved orange soda bottle and the cylindrical bottle together with both arms.",
+    "Pick the orange bottle while the other arm picks the medium bottle for beverages.",
+    "Hold the medium bottle with colorful label in one arm and the bottle for liquids in the other.",
+    "Use one arm for the round-bottom bottle with white cap and the other for the plastic bottle.",
+    "Lift the orange drink bottle with label and the cylindrical bottle in one synchronized motion.",
+    "Grasp the different bottles the grooved orange drink bottle and the medium bottle for beverages simultaneously.",
+    "Take hold of the orange bottle and the bottle for liquids at once.",
+    "Grasp the grooved orange drink bottle as the other arm grasps the blue bottle.",
+    "Take the orange bottle and the blue bottle with label together, one per arm.",
+    "Use both arms simultaneously for the light and medium-sized bottle and the smooth plastic bottle.",
+    "Pick up the pair the grooved orange drink bottle and the blue bottle with label together.",
+    "Pick up the round-bottom bottle with white cap and the smooth plastic bottle simultaneously.",
+    "Use each arm to secure one of the cylindrical orange plastic bottle and the plastic bottle.",
+    "Grab both bottles in parallel, the medium bottle with colorful label and the medium bottle for beverages.",
+    "Assign one arm to the smooth orange bottle and one to the blue bottle.",
+    "Simultaneously grasp and lift the grooved orange drink bottle and the bottle for liquids.",
+    "Each arm should grab one bottle: the round-bottom bottle with white cap and the blue bottle.",
+    "Grab the cylindrical orange plastic bottle and the white and blue bottle at the same time.",
+    "Catch the grooved orange drink bottle and the handheld bottle together.",
+    "Pick up both the grooved orange drink bottle and the white bottle with blue accents using separate arms.",
+    "Lift both different bottles, the orange bottle and the medium bottle for beverages, together.",
+    "Use both arms to grasp the curved orange soda bottle and the medium-sized bottle together.",
+    "Use separate arms to lift the ridged orange bottle with grooves and the blue bottle.",
+    "Secure both the curved orange soda bottle and the bottle with blue cap simultaneously.",
+    "Hold both the plastic bottle and the medium bottle for beverages, one in each arm.",
+    "Raise the ridged orange bottle with grooves with one arm and the white and blue bottle with the other.",
+    "Reach for the round-bottom bottle with white cap and the cylindrical bottle with both arms at once.",
+    "Pick the plastic bottle and the medium-sized bottle up in parallel.",
+    "Raise both bottles at once: the round-bottom bottle with white cap and the medium bottle for beverages.",
+    "Raise the ridged orange bottle with grooves and the medium bottle for beverages at the same time.",
+    "Lift the medium bottle with colorful label and the blue bottle with label together with both arms.",
+    "Pick the smooth orange bottle while the other arm picks the bottle with blue cap.",
+    "Hold the grooved orange drink bottle in one arm and the blue bottle with label in the other.",
+    "Use one arm for the medium bottle with colorful label and the other for the white and blue bottle.",
+    "Lift the smooth orange bottle and the medium bottle for beverages in one synchronized motion.",
+    "Grasp the different bottles the ridged orange bottle with grooves and the smooth plastic bottle simultaneously.",
+    "Take hold of the curved orange soda bottle and the medium bottle for beverages at once.",
+    "Grasp the light and medium-sized bottle as the other arm grasps the blue bottle with label.",
+    "Take the orange bottle and the smooth plastic bottle together, one per arm.",
+    "Use both arms simultaneously for the orange drink bottle with label and the medium bottle for beverages.",
+    "Pick up the pair the plastic bottle and the medium bottle for beverages together.",
+    "Pick up the round-bottom bottle with white cap and the white bottle with blue accents simultaneously.",
+    "Use each arm to secure one of the orange bottle and the medium-sized bottle.",
+    "Grab both bottles in parallel, the grooved orange drink bottle and the blue bottle.",
+    "Assign one arm to the cylindrical orange plastic bottle and one to the plastic bottle.",
+    "Simultaneously grasp and lift the orange bottle and the medium-sized bottle.",
+    "Each arm should grab one bottle: the medium bottle with colorful label and the plastic bottle.",
+    "Grab the curved orange soda bottle and the medium bottle for beverages at the same time.",
+    "Catch the ridged orange bottle with grooves and the white and blue bottle together.",
+    "Pick up both the cylindrical orange plastic bottle and the smooth plastic bottle using separate arms."
+  ],
+  "unseen": [
+    "Grab the white capped orange plastic bottle and the blue-capped plastic bottle at the same time.",
+    "Grasp the white capped orange plastic bottle and the bottle with curved neck design simultaneously.",
+    "Pick up both the white capped orange plastic bottle and the blue-capped plastic bottle together.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with ridged neck.",
+    "Take hold of the white capped orange plastic bottle and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with white cap and the bottle with ridged neck.",
+    "Raise both different bottles, the white capped orange plastic bottle and the bottle with curved neck design, together.",
+    "Lift the bottle with white cap and the bottle with ridged neck simultaneously with separate arms.",
+    "Use one arm for the bottle with white cap and the other for the bottle with curved neck design.",
+    "Pick up the bottle with white cap and the blue-capped plastic bottle in parallel.",
+    "Grab the bottle with ridged orange grip and the blue-capped plastic bottle at the same time.",
+    "Grasp the white capped orange plastic bottle and the blue-capped plastic bottle simultaneously.",
+    "Pick up both the bottle with ridged orange grip and the blue-capped plastic bottle together.",
+    "Lift the bottle with ridged orange grip as the other arm lifts the blue-capped plastic bottle.",
+    "Take hold of the white capped orange plastic bottle and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the white capped orange plastic bottle and the bottle with ridged neck.",
+    "Raise both different bottles, the bottle with ridged orange grip and the blue-capped plastic bottle, together.",
+    "Lift the white capped orange plastic bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use one arm for the bottle with ridged orange grip and the other for the bottle with curved neck design.",
+    "Pick up the bottle with ridged orange grip and the bottle with ridged neck in parallel.",
+    "Grab the bottle with ridged orange grip and the bottle with ridged neck at the same time.",
+    "Grasp the bottle with white cap and the blue-capped plastic bottle simultaneously.",
+    "Pick up both the white capped orange plastic bottle and the bottle with curved neck design together.",
+    "Lift the bottle with white cap as the other arm lifts the bottle with ridged neck.",
+    "Take hold of the bottle with ridged orange grip and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the bottle with white cap and the bottle with curved neck design.",
+    "Raise both different bottles, the bottle with ridged orange grip and the bottle with curved neck design, together.",
+    "Lift the bottle with white cap and the bottle with curved neck design simultaneously with separate arms.",
+    "Use one arm for the bottle with white cap and the other for the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged orange grip and the bottle with ridged neck in parallel.",
+    "Grab the white capped orange plastic bottle and the bottle with ridged neck at the same time.",
+    "Grasp the bottle with white cap and the bottle with ridged neck simultaneously.",
+    "Pick up both the bottle with ridged orange grip and the bottle with curved neck design together.",
+    "Lift the bottle with white cap as the other arm lifts the bottle with ridged neck.",
+    "Take hold of the white capped orange plastic bottle and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the bottle with ridged orange grip and the bottle with ridged neck.",
+    "Raise both different bottles, the bottle with ridged orange grip and the blue-capped plastic bottle, together.",
+    "Lift the bottle with white cap and the bottle with ridged neck simultaneously with separate arms.",
+    "Use one arm for the bottle with white cap and the other for the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged orange grip and the bottle with ridged neck in parallel.",
+    "Grab the bottle with white cap and the bottle with curved neck design at the same time.",
+    "Grasp the bottle with white cap and the blue-capped plastic bottle simultaneously.",
+    "Pick up both the bottle with white cap and the blue-capped plastic bottle together.",
+    "Lift the bottle with white cap as the other arm lifts the blue-capped plastic bottle.",
+    "Take hold of the bottle with ridged orange grip and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with white cap and the blue-capped plastic bottle.",
+    "Raise both different bottles, the bottle with ridged orange grip and the bottle with curved neck design, together.",
+    "Lift the bottle with ridged orange grip and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use one arm for the white capped orange plastic bottle and the other for the bottle with curved neck design.",
+    "Pick up the bottle with white cap and the bottle with ridged neck in parallel.",
+    "Grab the bottle with ridged orange grip and the blue-capped plastic bottle at the same time.",
+    "Grasp the white capped orange plastic bottle and the bottle with curved neck design simultaneously.",
+    "Pick up both the bottle with white cap and the bottle with curved neck design together.",
+    "Lift the bottle with ridged orange grip as the other arm lifts the blue-capped plastic bottle.",
+    "Take hold of the bottle with ridged orange grip and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the white capped orange plastic bottle and the blue-capped plastic bottle.",
+    "Raise both different bottles, the bottle with white cap and the bottle with ridged neck, together.",
+    "Lift the white capped orange plastic bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use one arm for the white capped orange plastic bottle and the other for the blue-capped plastic bottle.",
+    "Pick up the white capped orange plastic bottle and the bottle with curved neck design in parallel.",
+    "Grab the bottle with white cap and the blue-capped plastic bottle at the same time.",
+    "Grasp the bottle with white cap and the bottle with ridged neck simultaneously.",
+    "Pick up both the bottle with ridged orange grip and the bottle with curved neck design together.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with curved neck design.",
+    "Take hold of the bottle with ridged orange grip and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the white capped orange plastic bottle and the bottle with curved neck design.",
+    "Raise both different bottles, the bottle with ridged orange grip and the bottle with curved neck design, together.",
+    "Lift the bottle with ridged orange grip and the bottle with curved neck design simultaneously with separate arms.",
+    "Use one arm for the bottle with ridged orange grip and the other for the blue-capped plastic bottle.",
+    "Pick up the white capped orange plastic bottle and the bottle with curved neck design in parallel.",
+    "Grab the white capped orange plastic bottle and the bottle with ridged neck at the same time.",
+    "Grasp the bottle with white cap and the bottle with curved neck design simultaneously.",
+    "Pick up both the white capped orange plastic bottle and the bottle with ridged neck together.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with curved neck design.",
+    "Take hold of the white capped orange plastic bottle and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the bottle with ridged orange grip and the bottle with curved neck design.",
+    "Raise both different bottles, the bottle with white cap and the blue-capped plastic bottle, together.",
+    "Lift the white capped orange plastic bottle and the bottle with ridged neck simultaneously with separate arms.",
+    "Use one arm for the bottle with white cap and the other for the bottle with ridged neck.",
+    "Pick up the white capped orange plastic bottle and the blue-capped plastic bottle in parallel.",
+    "Grab the bottle with ridged orange grip and the bottle with curved neck design at the same time.",
+    "Grasp the bottle with ridged orange grip and the bottle with ridged neck simultaneously.",
+    "Pick up both the white capped orange plastic bottle and the bottle with ridged neck together.",
+    "Lift the bottle with white cap as the other arm lifts the bottle with curved neck design.",
+    "Take hold of the white capped orange plastic bottle and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with ridged orange grip and the bottle with ridged neck.",
+    "Raise both different bottles, the bottle with ridged orange grip and the bottle with ridged neck, together.",
+    "Lift the white capped orange plastic bottle and the bottle with curved neck design simultaneously with separate arms.",
+    "Use one arm for the bottle with ridged orange grip and the other for the blue-capped plastic bottle.",
+    "Pick up the white capped orange plastic bottle and the bottle with ridged neck in parallel.",
+    "Grab the bottle with white cap and the bottle with curved neck design at the same time.",
+    "Grasp the bottle with white cap and the bottle with ridged neck simultaneously.",
+    "Pick up both the bottle with white cap and the bottle with curved neck design together.",
+    "Lift the white capped orange plastic bottle as the other arm lifts the bottle with curved neck design.",
+    "Take hold of the bottle with ridged orange grip and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the bottle with ridged orange grip and the bottle with curved neck design.",
+    "Raise both different bottles, the bottle with white cap and the blue-capped plastic bottle, together.",
+    "Lift the bottle with ridged orange grip and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Use one arm for the white capped orange plastic bottle and the other for the bottle with curved neck design.",
+    "Pick up the bottle with white cap and the bottle with curved neck design in parallel."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000044.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000044.json
new file mode 100644
index 0000000000000000000000000000000000000000..496e4391ec73d910a05cd7c5ba735d2d2dc3b6dc
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000044.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium bottle for beverages and the black cylindrical bottle with ridges at the same time.",
+    "Secure both the medium-sized bottle and the yellow-capped cylindrical bottle simultaneously.",
+    "Pick up both the cylindrical bottle and the black plastic bottle with Pepsi logo using separate arms.",
+    "Take the bottle with blue cap and the black cylindrical bottle with ridges together, one per arm.",
+    "Hold the bottle with blue cap in one arm and the beverage bottle with black body in the other.",
+    "Take hold of the white bottle with blue accents and the medium black bottle with printed label at once.",
+    "Assign one arm to the plastic bottle and one to the black cylindrical bottle with ridges.",
+    "Lift both different bottles, the bottle with blue cap and the smooth black bottle with ridges, together.",
+    "Lift the smooth plastic bottle and the medium bottle with yellow cap in one synchronized motion.",
+    "Use one arm for the blue bottle and the other for the black plastic bottle with Pepsi logo.",
+    "Reach for the white and blue bottle and the black bottle with both arms at once.",
+    "Grasp the bottle with blue cap as the other arm grasps the yellow-capped cylindrical bottle.",
+    "Use both arms simultaneously for the medium-sized bottle and the bottle with blue and yellow print.",
+    "Use both arms to grasp the medium bottle for beverages and the bottle with blue and yellow print together.",
+    "Lift the medium bottle for beverages and the medium bottle with yellow cap together with both arms.",
+    "Raise the cylindrical bottle and the yellow capped drink bottle at the same time.",
+    "Simultaneously grasp and lift the cylindrical bottle and the black bottle.",
+    "Grasp the different bottles the white bottle with blue accents and the medium black bottle with printed label simultaneously.",
+    "Catch the medium bottle for beverages and the black cylindrical bottle with ridges together.",
+    "Pick the medium bottle for beverages and the black plastic bottle with Pepsi logo up in parallel.",
+    "Raise both bottles at once: the bottle with blue cap and the beverage bottle with black body.",
+    "Pick up the pair the white bottle with blue accents and the smooth black bottle with ridges together.",
+    "Pick up the cylindrical bottle and the black plastic bottle with Pepsi logo simultaneously.",
+    "Use each arm to secure one of the smooth plastic bottle and the medium black bottle with printed label.",
+    "Hold both the cylindrical bottle and the bottle with blue and yellow print, one in each arm.",
+    "Pick the medium bottle for beverages while the other arm picks the black plastic bottle with Pepsi logo.",
+    "Grab both bottles in parallel, the plastic bottle and the black bottle.",
+    "Use separate arms to lift the cylindrical bottle and the yellow capped drink bottle.",
+    "Raise the white and blue bottle with one arm and the drink bottle with rounded yellow lid with the other.",
+    "Each arm should grab one bottle: the cylindrical bottle and the black cylindrical bottle with ridges.",
+    "Grab the medium bottle for beverages and the black plastic bottle with Pepsi logo at the same time.",
+    "Secure both the blue bottle with label and the black bottle simultaneously.",
+    "Pick up both the plastic bottle and the smooth black bottle with ridges using separate arms.",
+    "Take the medium bottle for beverages and the yellow capped drink bottle together, one per arm.",
+    "Hold the bottle with blue cap in one arm and the medium bottle with yellow cap in the other.",
+    "Take hold of the plastic bottle and the bottle with blue and yellow print at once.",
+    "Assign one arm to the smooth plastic bottle and one to the black plastic bottle with Pepsi logo.",
+    "Lift both different bottles, the handheld bottle and the plastic bottle with colorful label, together.",
+    "Lift the handheld bottle and the yellow-capped cylindrical bottle in one synchronized motion.",
+    "Use one arm for the bottle with blue cap and the other for the black bottle.",
+    "Reach for the cylindrical bottle and the black cylindrical bottle with ridges with both arms at once.",
+    "Grasp the blue bottle as the other arm grasps the yellow-capped cylindrical bottle.",
+    "Use both arms simultaneously for the handheld bottle and the medium bottle with yellow cap.",
+    "Use both arms to grasp the smooth plastic bottle and the smooth black bottle with ridges together.",
+    "Lift the bottle with blue cap and the smooth black bottle with ridges together with both arms.",
+    "Raise the bottle for liquids and the beverage bottle with black body at the same time.",
+    "Simultaneously grasp and lift the white bottle with blue accents and the black bottle.",
+    "Grasp the different bottles the medium bottle for beverages and the black bottle simultaneously.",
+    "Catch the smooth plastic bottle and the beverage bottle with black body together.",
+    "Pick the bottle with blue cap and the black cylindrical bottle with ridges up in parallel.",
+    "Raise both bottles at once: the cylindrical bottle and the black plastic bottle with Pepsi logo.",
+    "Pick up the pair the medium bottle for beverages and the yellow-capped cylindrical bottle together.",
+    "Pick up the blue bottle and the yellow-capped cylindrical bottle simultaneously.",
+    "Use each arm to secure one of the white bottle with blue accents and the bottle with blue and yellow print.",
+    "Hold both the medium bottle for beverages and the yellow-capped cylindrical bottle, one in each arm.",
+    "Pick the blue bottle while the other arm picks the black cylindrical bottle with ridges.",
+    "Grab both bottles in parallel, the blue bottle and the plastic bottle with colorful label.",
+    "Use separate arms to lift the smooth plastic bottle and the medium bottle with yellow cap.",
+    "Raise the handheld bottle with one arm and the bottle with blue and yellow print with the other.",
+    "Each arm should grab one bottle: the bottle for liquids and the black plastic bottle with Pepsi logo.",
+    "Grab the medium-sized bottle and the bottle with blue and yellow print at the same time.",
+    "Secure both the medium-sized bottle and the yellow capped drink bottle simultaneously.",
+    "Pick up both the blue bottle and the drink bottle with rounded yellow lid using separate arms.",
+    "Take the blue bottle with label and the bottle with blue and yellow print together, one per arm.",
+    "Hold the cylindrical bottle in one arm and the black bottle in the other.",
+    "Take hold of the blue bottle with label and the black plastic bottle with Pepsi logo at once.",
+    "Assign one arm to the medium bottle for beverages and one to the bottle with blue and yellow print.",
+    "Lift both different bottles, the cylindrical bottle and the drink bottle with rounded yellow lid, together.",
+    "Lift the plastic bottle and the black bottle in one synchronized motion.",
+    "Use one arm for the plastic bottle and the other for the drink bottle with rounded yellow lid.",
+    "Reach for the blue bottle and the drink bottle with rounded yellow lid with both arms at once.",
+    "Grasp the medium-sized bottle as the other arm grasps the yellow-capped cylindrical bottle.",
+    "Use both arms simultaneously for the white and blue bottle and the yellow-capped cylindrical bottle.",
+    "Use both arms to grasp the plastic bottle and the black plastic bottle with Pepsi logo together.",
+    "Lift the bottle with blue cap and the plastic bottle with colorful label together with both arms.",
+    "Raise the handheld bottle and the black bottle at the same time.",
+    "Simultaneously grasp and lift the medium-sized bottle and the black plastic bottle with Pepsi logo.",
+    "Grasp the different bottles the medium bottle for beverages and the drink bottle with rounded yellow lid simultaneously.",
+    "Catch the blue bottle and the black plastic bottle with Pepsi logo together.",
+    "Pick the medium-sized bottle and the bottle with blue and yellow print up in parallel.",
+    "Raise both bottles at once: the blue bottle and the medium bottle with yellow cap.",
+    "Pick up the pair the bottle with blue cap and the black plastic bottle with Pepsi logo together.",
+    "Pick up the blue bottle with label and the black plastic bottle with Pepsi logo simultaneously.",
+    "Use each arm to secure one of the bottle with blue cap and the black plastic bottle with Pepsi logo.",
+    "Hold both the white bottle with blue accents and the yellow capped drink bottle, one in each arm.",
+    "Pick the bottle for liquids while the other arm picks the black plastic bottle with Pepsi logo.",
+    "Grab both bottles in parallel, the medium-sized bottle and the smooth black bottle with ridges.",
+    "Use separate arms to lift the medium-sized bottle and the black bottle.",
+    "Raise the medium-sized bottle with one arm and the yellow capped drink bottle with the other.",
+    "Each arm should grab one bottle: the bottle with blue cap and the plastic bottle with colorful label.",
+    "Grab the cylindrical bottle and the black bottle at the same time.",
+    "Secure both the medium bottle for beverages and the drink bottle with rounded yellow lid simultaneously.",
+    "Pick up both the white bottle with blue accents and the black plastic bottle with Pepsi logo using separate arms.",
+    "Take the smooth plastic bottle and the medium bottle with yellow cap together, one per arm.",
+    "Hold the bottle with blue cap in one arm and the black bottle in the other.",
+    "Take hold of the bottle for liquids and the medium black bottle with printed label at once.",
+    "Assign one arm to the plastic bottle and one to the plastic bottle with colorful label.",
+    "Lift both different bottles, the handheld bottle and the smooth black bottle with ridges, together.",
+    "Lift the blue bottle and the drink bottle with rounded yellow lid in one synchronized motion.",
+    "Use one arm for the blue bottle and the other for the smooth black bottle with ridges."
+  ],
+  "unseen": [
+    "Pick up both the blue-capped plastic bottle and the plastic bottle with blue label together.",
+    "Pick up the bottle with curved neck design and the bottle with ridges near base in parallel.",
+    "Grasp the bottle with ridged neck and the bottle with ridges near base simultaneously.",
+    "Use one arm for the blue-capped plastic bottle and the other for the bottle with ridges near base.",
+    "Lift the blue-capped plastic bottle and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with curved neck design and the hand-sized bottle with ridged bottom, together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the bottle with ridged neck and the hand-sized bottle with ridged bottom.",
+    "Grab the blue-capped plastic bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Take hold of the blue-capped plastic bottle and the bottle with ridges near base at once.",
+    "Pick up both the blue-capped plastic bottle and the hand-sized bottle with ridged bottom together.",
+    "Pick up the bottle with ridged neck and the hand-sized bottle with ridged bottom in parallel.",
+    "Grasp the blue-capped plastic bottle and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the blue-capped plastic bottle and the other for the bottle with ridges near base.",
+    "Lift the bottle with ridged neck and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with ridged neck and the hand-sized bottle with ridged bottom, together.",
+    "Lift the bottle with curved neck design as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the bottle with curved neck design and the plastic bottle with blue label.",
+    "Grab the bottle with curved neck design and the plastic bottle with blue label at the same time.",
+    "Take hold of the blue-capped plastic bottle and the hand-sized bottle with ridged bottom at once.",
+    "Pick up both the bottle with ridged neck and the hand-sized bottle with ridged bottom together.",
+    "Pick up the bottle with ridged neck and the plastic bottle with blue label in parallel.",
+    "Grasp the bottle with ridged neck and the bottle with ridges near base simultaneously.",
+    "Use one arm for the bottle with curved neck design and the other for the plastic bottle with blue label.",
+    "Lift the bottle with curved neck design and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise both different bottles, the blue-capped plastic bottle and the plastic bottle with blue label, together.",
+    "Lift the bottle with ridged neck as the other arm lifts the bottle with ridges near base.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the bottle with ridges near base.",
+    "Grab the bottle with curved neck design and the hand-sized bottle with ridged bottom at the same time.",
+    "Take hold of the blue-capped plastic bottle and the hand-sized bottle with ridged bottom at once.",
+    "Pick up both the blue-capped plastic bottle and the hand-sized bottle with ridged bottom together.",
+    "Pick up the bottle with curved neck design and the plastic bottle with blue label in parallel.",
+    "Grasp the bottle with curved neck design and the bottle with ridges near base simultaneously.",
+    "Use one arm for the blue-capped plastic bottle and the other for the plastic bottle with blue label.",
+    "Lift the blue-capped plastic bottle and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with curved neck design and the hand-sized bottle with ridged bottom, together.",
+    "Lift the bottle with ridged neck as the other arm lifts the bottle with ridges near base.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with ridges near base.",
+    "Grab the bottle with ridged neck and the hand-sized bottle with ridged bottom at the same time.",
+    "Take hold of the blue-capped plastic bottle and the plastic bottle with blue label at once.",
+    "Pick up both the bottle with ridged neck and the plastic bottle with blue label together.",
+    "Pick up the bottle with curved neck design and the plastic bottle with blue label in parallel.",
+    "Grasp the blue-capped plastic bottle and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the blue-capped plastic bottle and the other for the plastic bottle with blue label.",
+    "Lift the blue-capped plastic bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the blue-capped plastic bottle and the hand-sized bottle with ridged bottom, together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with ridges near base.",
+    "Grab the bottle with curved neck design and the hand-sized bottle with ridged bottom at the same time.",
+    "Take hold of the blue-capped plastic bottle and the hand-sized bottle with ridged bottom at once.",
+    "Pick up both the bottle with curved neck design and the plastic bottle with blue label together.",
+    "Pick up the blue-capped plastic bottle and the bottle with ridges near base in parallel.",
+    "Grasp the blue-capped plastic bottle and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the blue-capped plastic bottle and the other for the hand-sized bottle with ridged bottom.",
+    "Lift the blue-capped plastic bottle and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with curved neck design and the hand-sized bottle with ridged bottom, together.",
+    "Lift the bottle with curved neck design as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with ridges near base.",
+    "Grab the bottle with ridged neck and the plastic bottle with blue label at the same time.",
+    "Take hold of the blue-capped plastic bottle and the hand-sized bottle with ridged bottom at once.",
+    "Pick up both the bottle with curved neck design and the bottle with ridges near base together.",
+    "Pick up the bottle with ridged neck and the hand-sized bottle with ridged bottom in parallel.",
+    "Grasp the blue-capped plastic bottle and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the bottle with ridged neck and the other for the plastic bottle with blue label.",
+    "Lift the bottle with ridged neck and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with ridged neck and the bottle with ridges near base, together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the plastic bottle with blue label.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with ridges near base.",
+    "Grab the blue-capped plastic bottle and the hand-sized bottle with ridged bottom at the same time.",
+    "Take hold of the blue-capped plastic bottle and the hand-sized bottle with ridged bottom at once.",
+    "Pick up both the blue-capped plastic bottle and the hand-sized bottle with ridged bottom together.",
+    "Pick up the blue-capped plastic bottle and the plastic bottle with blue label in parallel.",
+    "Grasp the bottle with curved neck design and the bottle with ridges near base simultaneously.",
+    "Use one arm for the bottle with curved neck design and the other for the bottle with ridges near base.",
+    "Lift the bottle with ridged neck and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with ridged neck and the hand-sized bottle with ridged bottom, together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the hand-sized bottle with ridged bottom.",
+    "Grab the blue-capped plastic bottle and the bottle with ridges near base at the same time.",
+    "Take hold of the bottle with curved neck design and the bottle with ridges near base at once.",
+    "Pick up both the bottle with ridged neck and the bottle with ridges near base together.",
+    "Pick up the blue-capped plastic bottle and the hand-sized bottle with ridged bottom in parallel.",
+    "Grasp the blue-capped plastic bottle and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the bottle with ridged neck and the other for the plastic bottle with blue label.",
+    "Lift the blue-capped plastic bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with ridged neck and the plastic bottle with blue label, together.",
+    "Lift the blue-capped plastic bottle as the other arm lifts the plastic bottle with blue label.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the plastic bottle with blue label.",
+    "Grab the bottle with ridged neck and the plastic bottle with blue label at the same time.",
+    "Take hold of the bottle with curved neck design and the plastic bottle with blue label at once.",
+    "Pick up both the bottle with curved neck design and the hand-sized bottle with ridged bottom together.",
+    "Pick up the bottle with ridged neck and the hand-sized bottle with ridged bottom in parallel.",
+    "Grasp the bottle with ridged neck and the plastic bottle with blue label simultaneously.",
+    "Use one arm for the bottle with ridged neck and the other for the bottle with ridges near base.",
+    "Lift the bottle with ridged neck and the bottle with ridges near base simultaneously with separate arms.",
+    "Raise both different bottles, the blue-capped plastic bottle and the hand-sized bottle with ridged bottom, together.",
+    "Lift the bottle with ridged neck as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the hand-sized bottle with ridged bottom.",
+    "Grab the bottle with ridged neck and the bottle with ridges near base at the same time.",
+    "Take hold of the bottle with ridged neck and the bottle with ridges near base at once."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000045.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000045.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d622f4b4482d0845c47b89721815eba8335ce44
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000045.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the orange bottle and the white and orange plastic bottle at the same time.",
+    "Use both arms simultaneously for the orange and white bottle with cap and the bottle with ribbed orange bottom.",
+    "Take the orange bottle and the bottle with ribbed orange bottom together, one per arm.",
+    "Take hold of the bottle with ribbed orange bottom and the medium bottle with orange lid at once.",
+    "Pick up the bottle with orange cap and the medium orange bottle simultaneously.",
+    "Hold both the bottle with ribbed orange bottom and the plastic bottle, one in each arm.",
+    "Grab both bottles in parallel, the medium orange bottle and the bottle with orange cap.",
+    "Assign one arm to the orange and white bottle with cap and one to the cylindrical orange and white bottle.",
+    "Hold the drinking bottle with yellow label in one arm and the yellow label bottle in the other.",
+    "Grasp the different bottles the smooth plastic bottle and the orange bottle simultaneously.",
+    "Lift both different bottles, the medium bottle with orange lid and the bottle with orange cap, together.",
+    "Reach for the white and orange plastic bottle and the smooth plastic bottle with both arms at once.",
+    "Pick the bottle with orange cap and the bottle with ribbed orange bottom up in parallel.",
+    "Lift the orange and white bottle with cap and the orange and white bottle with cap in one synchronized motion.",
+    "Lift the yellow label bottle and the medium bottle with orange lid together with both arms.",
+    "Use each arm to secure one of the cylindrical orange and white bottle and the smooth plastic bottle.",
+    "Raise both bottles at once: the plastic bottle and the orange bottle.",
+    "Pick up both the plastic bottle and the orange bottle using separate arms.",
+    "Grab the bottle with orange cap and the drinking bottle with yellow label at the same time.",
+    "Pick the plastic bottle while the other arm picks the medium orange bottle.",
+    "Use one arm for the smooth plastic bottle and the other for the orange bottle.",
+    "Grasp the white and orange plastic bottle as the other arm grasps the smooth plastic bottle.",
+    "Simultaneously grasp and lift the plastic bottle and the medium bottle with orange lid.",
+    "Use both arms to grasp the medium bottle with orange lid and the medium bottle with orange lid together.",
+    "Catch the plastic bottle and the drinking bottle with yellow label together.",
+    "Each arm should grab one bottle: the orange and white bottle with cap and the plastic bottle.",
+    "Pick up the pair the drinking bottle with yellow label and the orange bottle together.",
+    "Secure both the smooth plastic bottle and the smooth plastic bottle simultaneously.",
+    "Use separate arms to lift the smooth plastic bottle and the drinking bottle with yellow label.",
+    "Raise the white and orange plastic bottle with one arm and the white and orange plastic bottle with the other.",
+    "Raise the medium bottle with orange lid and the medium bottle with orange lid at the same time.",
+    "Use both arms simultaneously for the medium bottle with orange lid and the drinking bottle with yellow label.",
+    "Take the bottle with ribbed orange bottom and the drinking bottle with yellow label together, one per arm.",
+    "Take hold of the orange and white bottle with cap and the cylindrical orange and white bottle at once.",
+    "Pick up the yellow label bottle and the bottle with ribbed orange bottom simultaneously.",
+    "Hold both the cylindrical orange and white bottle and the yellow label bottle, one in each arm.",
+    "Grab both bottles in parallel, the smooth plastic bottle and the plastic bottle.",
+    "Assign one arm to the bottle with orange cap and one to the drinking bottle with yellow label.",
+    "Hold the cylindrical orange and white bottle in one arm and the medium bottle with orange lid in the other.",
+    "Grasp the different bottles the drinking bottle with yellow label and the bottle with ribbed orange bottom simultaneously.",
+    "Lift both different bottles, the smooth plastic bottle and the yellow label bottle, together.",
+    "Reach for the bottle with orange cap and the orange and white bottle with cap with both arms at once.",
+    "Pick the orange bottle and the medium orange bottle up in parallel.",
+    "Lift the plastic bottle and the medium orange bottle in one synchronized motion.",
+    "Lift the drinking bottle with yellow label and the bottle with ribbed orange bottom together with both arms.",
+    "Use each arm to secure one of the orange bottle and the smooth plastic bottle.",
+    "Raise both bottles at once: the smooth plastic bottle and the yellow label bottle.",
+    "Pick up both the smooth plastic bottle and the orange bottle using separate arms.",
+    "Grab the smooth plastic bottle and the bottle with ribbed orange bottom at the same time.",
+    "Pick the orange bottle while the other arm picks the orange and white bottle with cap.",
+    "Use one arm for the bottle with orange cap and the other for the plastic bottle.",
+    "Grasp the medium bottle with orange lid as the other arm grasps the orange and white bottle with cap.",
+    "Simultaneously grasp and lift the white and orange plastic bottle and the drinking bottle with yellow label.",
+    "Use both arms to grasp the smooth plastic bottle and the plastic bottle together.",
+    "Catch the smooth plastic bottle and the orange bottle together.",
+    "Each arm should grab one bottle: the plastic bottle and the yellow label bottle.",
+    "Pick up the pair the bottle with orange cap and the cylindrical orange and white bottle together.",
+    "Secure both the cylindrical orange and white bottle and the orange bottle simultaneously.",
+    "Use separate arms to lift the bottle with orange cap and the smooth plastic bottle.",
+    "Raise the drinking bottle with yellow label with one arm and the bottle with ribbed orange bottom with the other.",
+    "Raise the yellow label bottle and the cylindrical orange and white bottle at the same time.",
+    "Use both arms simultaneously for the yellow label bottle and the yellow label bottle.",
+    "Take the cylindrical orange and white bottle and the medium orange bottle together, one per arm.",
+    "Take hold of the bottle with ribbed orange bottom and the cylindrical orange and white bottle at once.",
+    "Pick up the bottle with orange cap and the bottle with ribbed orange bottom simultaneously.",
+    "Hold both the smooth plastic bottle and the white and orange plastic bottle, one in each arm.",
+    "Grab both bottles in parallel, the white and orange plastic bottle and the yellow label bottle.",
+    "Assign one arm to the plastic bottle and one to the white and orange plastic bottle.",
+    "Hold the yellow label bottle in one arm and the drinking bottle with yellow label in the other.",
+    "Grasp the different bottles the orange and white bottle with cap and the orange bottle simultaneously.",
+    "Lift both different bottles, the orange and white bottle with cap and the smooth plastic bottle, together.",
+    "Reach for the orange and white bottle with cap and the white and orange plastic bottle with both arms at once.",
+    "Pick the drinking bottle with yellow label and the medium bottle with orange lid up in parallel.",
+    "Lift the bottle with orange cap and the white and orange plastic bottle in one synchronized motion.",
+    "Lift the cylindrical orange and white bottle and the plastic bottle together with both arms.",
+    "Use each arm to secure one of the plastic bottle and the bottle with orange cap.",
+    "Raise both bottles at once: the smooth plastic bottle and the yellow label bottle.",
+    "Pick up both the white and orange plastic bottle and the orange and white bottle with cap using separate arms.",
+    "Grab the yellow label bottle and the orange bottle at the same time.",
+    "Pick the bottle with orange cap while the other arm picks the drinking bottle with yellow label.",
+    "Use one arm for the white and orange plastic bottle and the other for the plastic bottle.",
+    "Grasp the cylindrical orange and white bottle as the other arm grasps the bottle with ribbed orange bottom.",
+    "Simultaneously grasp and lift the medium orange bottle and the drinking bottle with yellow label.",
+    "Use both arms to grasp the medium bottle with orange lid and the medium orange bottle together.",
+    "Catch the medium orange bottle and the medium orange bottle together.",
+    "Each arm should grab one bottle: the orange and white bottle with cap and the medium bottle with orange lid.",
+    "Pick up the pair the cylindrical orange and white bottle and the medium bottle with orange lid together.",
+    "Secure both the yellow label bottle and the drinking bottle with yellow label simultaneously.",
+    "Use separate arms to lift the orange bottle and the bottle with orange cap.",
+    "Raise the smooth plastic bottle with one arm and the bottle with orange cap with the other.",
+    "Raise the orange bottle and the orange bottle at the same time.",
+    "Use both arms simultaneously for the orange and white bottle with cap and the orange and white bottle with cap.",
+    "Take the bottle with orange cap and the yellow label bottle together, one per arm.",
+    "Take hold of the medium orange bottle and the drinking bottle with yellow label at once.",
+    "Pick up the drinking bottle with yellow label and the cylindrical orange and white bottle simultaneously.",
+    "Hold both the orange and white bottle with cap and the bottle with ribbed orange bottom, one in each arm.",
+    "Grab both bottles in parallel, the bottle with orange cap and the cylindrical orange and white bottle.",
+    "Assign one arm to the bottle with ribbed orange bottom and one to the medium bottle with orange lid.",
+    "Hold the bottle with ribbed orange bottom in one arm and the orange bottle in the other.",
+    "Grasp the different bottles the orange bottle and the drinking bottle with yellow label simultaneously."
+  ],
+  "unseen": [
+    "Use one arm for the bottle with yellow sticker label and the other for the curvy orange bottle with white section.",
+    "Grab the curvy orange bottle with white section and the bottle with yellow sticker label at the same time.",
+    "Grasp the curvy orange bottle with white section and the curvy orange bottle with white section simultaneously.",
+    "Pick up the bottle with curved body and the curvy orange bottle with white section in parallel.",
+    "Raise both different bottles, the bottle with yellow sticker label and the curvy orange bottle with white section, together.",
+    "Pick up both the bottle with yellow sticker label and the bottle with curved body together.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with curved body.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the curvy orange bottle with white section.",
+    "Lift the bottle with curved body and the bottle with yellow sticker label simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the curvy orange bottle with white section at once.",
+    "Use one arm for the bottle with curved body and the other for the bottle with curved body.",
+    "Grab the bottle with yellow sticker label and the bottle with curved body at the same time.",
+    "Grasp the bottle with curved body and the bottle with curved body simultaneously.",
+    "Pick up the bottle with yellow sticker label and the bottle with yellow sticker label in parallel.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with curved body, together.",
+    "Pick up both the bottle with yellow sticker label and the bottle with yellow sticker label together.",
+    "Lift the bottle with curved body as the other arm lifts the bottle with curved body.",
+    "Use each arm to grab one of the bottle with curved body and the bottle with curved body.",
+    "Lift the bottle with yellow sticker label and the curvy orange bottle with white section simultaneously with separate arms.",
+    "Take hold of the bottle with curved body and the bottle with curved body at once.",
+    "Use one arm for the bottle with curved body and the other for the curvy orange bottle with white section.",
+    "Grab the curvy orange bottle with white section and the curvy orange bottle with white section at the same time.",
+    "Grasp the curvy orange bottle with white section and the bottle with curved body simultaneously.",
+    "Pick up the curvy orange bottle with white section and the bottle with curved body in parallel.",
+    "Raise both different bottles, the bottle with yellow sticker label and the curvy orange bottle with white section, together.",
+    "Pick up both the curvy orange bottle with white section and the bottle with yellow sticker label together.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the bottle with yellow sticker label.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the bottle with yellow sticker label.",
+    "Lift the curvy orange bottle with white section and the bottle with curved body simultaneously with separate arms.",
+    "Take hold of the curvy orange bottle with white section and the bottle with yellow sticker label at once.",
+    "Use one arm for the bottle with yellow sticker label and the other for the bottle with curved body.",
+    "Grab the curvy orange bottle with white section and the bottle with yellow sticker label at the same time.",
+    "Grasp the bottle with curved body and the curvy orange bottle with white section simultaneously.",
+    "Pick up the bottle with curved body and the curvy orange bottle with white section in parallel.",
+    "Raise both different bottles, the bottle with curved body and the bottle with yellow sticker label, together.",
+    "Pick up both the bottle with curved body and the curvy orange bottle with white section together.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with yellow sticker label.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the bottle with curved body.",
+    "Lift the curvy orange bottle with white section and the curvy orange bottle with white section simultaneously with separate arms.",
+    "Take hold of the bottle with curved body and the bottle with yellow sticker label at once.",
+    "Use one arm for the bottle with yellow sticker label and the other for the bottle with curved body.",
+    "Grab the bottle with yellow sticker label and the curvy orange bottle with white section at the same time.",
+    "Grasp the curvy orange bottle with white section and the curvy orange bottle with white section simultaneously.",
+    "Pick up the bottle with yellow sticker label and the bottle with curved body in parallel.",
+    "Raise both different bottles, the bottle with yellow sticker label and the bottle with yellow sticker label, together.",
+    "Pick up both the bottle with curved body and the curvy orange bottle with white section together.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the bottle with yellow sticker label.",
+    "Use each arm to grab one of the bottle with curved body and the curvy orange bottle with white section.",
+    "Lift the bottle with yellow sticker label and the bottle with curved body simultaneously with separate arms.",
+    "Take hold of the bottle with curved body and the curvy orange bottle with white section at once.",
+    "Use one arm for the bottle with curved body and the other for the bottle with yellow sticker label.",
+    "Grab the curvy orange bottle with white section and the bottle with yellow sticker label at the same time.",
+    "Grasp the bottle with yellow sticker label and the curvy orange bottle with white section simultaneously.",
+    "Pick up the bottle with curved body and the curvy orange bottle with white section in parallel.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with yellow sticker label, together.",
+    "Pick up both the curvy orange bottle with white section and the bottle with curved body together.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with curved body.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the curvy orange bottle with white section.",
+    "Lift the bottle with curved body and the bottle with curved body simultaneously with separate arms.",
+    "Take hold of the bottle with curved body and the curvy orange bottle with white section at once.",
+    "Use one arm for the bottle with curved body and the other for the bottle with curved body.",
+    "Grab the curvy orange bottle with white section and the bottle with yellow sticker label at the same time.",
+    "Grasp the curvy orange bottle with white section and the bottle with yellow sticker label simultaneously.",
+    "Pick up the bottle with yellow sticker label and the bottle with curved body in parallel.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with yellow sticker label, together.",
+    "Pick up both the curvy orange bottle with white section and the bottle with curved body together.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the curvy orange bottle with white section.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the curvy orange bottle with white section.",
+    "Lift the bottle with curved body and the curvy orange bottle with white section simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the bottle with curved body at once.",
+    "Use one arm for the bottle with yellow sticker label and the other for the curvy orange bottle with white section.",
+    "Grab the bottle with curved body and the bottle with yellow sticker label at the same time.",
+    "Grasp the bottle with curved body and the bottle with yellow sticker label simultaneously.",
+    "Pick up the curvy orange bottle with white section and the bottle with yellow sticker label in parallel.",
+    "Raise both different bottles, the curvy orange bottle with white section and the bottle with curved body, together.",
+    "Pick up both the curvy orange bottle with white section and the curvy orange bottle with white section together.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the bottle with curved body.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the curvy orange bottle with white section.",
+    "Lift the curvy orange bottle with white section and the curvy orange bottle with white section simultaneously with separate arms.",
+    "Take hold of the curvy orange bottle with white section and the curvy orange bottle with white section at once.",
+    "Use one arm for the bottle with curved body and the other for the bottle with curved body.",
+    "Grab the curvy orange bottle with white section and the bottle with yellow sticker label at the same time.",
+    "Grasp the bottle with yellow sticker label and the curvy orange bottle with white section simultaneously.",
+    "Pick up the curvy orange bottle with white section and the bottle with curved body in parallel.",
+    "Raise both different bottles, the bottle with yellow sticker label and the curvy orange bottle with white section, together.",
+    "Pick up both the bottle with curved body and the curvy orange bottle with white section together.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with curved body.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the curvy orange bottle with white section.",
+    "Lift the curvy orange bottle with white section and the curvy orange bottle with white section simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the bottle with curved body at once.",
+    "Use one arm for the curvy orange bottle with white section and the other for the bottle with curved body.",
+    "Grab the bottle with curved body and the curvy orange bottle with white section at the same time.",
+    "Grasp the bottle with yellow sticker label and the bottle with yellow sticker label simultaneously.",
+    "Pick up the bottle with curved body and the bottle with curved body in parallel.",
+    "Raise both different bottles, the curvy orange bottle with white section and the curvy orange bottle with white section, together.",
+    "Pick up both the bottle with curved body and the bottle with curved body together.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the bottle with curved body.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the curvy orange bottle with white section.",
+    "Lift the bottle with yellow sticker label and the curvy orange bottle with white section simultaneously with separate arms.",
+    "Take hold of the bottle with yellow sticker label and the bottle with yellow sticker label at once."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000046.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000046.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06d8d34f15befff0badb0a4e47401c4b2c42be1
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000046.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift both different bottles, the medium bottle with orange lid and the handheld medium-sized liquid bottle, together.",
+    "Use each arm to secure one of the white and orange plastic bottle and the yellow-capped orange plastic bottle.",
+    "Hold both the bottle with ribbed orange bottom and the smooth orange cylindrical bottle, one in each arm.",
+    "Pick up both the yellow label bottle and the bottle with yellow cap using separate arms.",
+    "Grab the orange bottle and the orange bottle at the same time.",
+    "Reach for the bottle with ribbed orange bottom and the yellow-capped bottle for beverages with both arms at once.",
+    "Use separate arms to lift the medium bottle with orange lid and the cylindrical orange bottle with smooth surface.",
+    "Grasp the cylindrical orange and white bottle as the other arm grasps the orange bottle with bold labeling.",
+    "Take the cylindrical orange and white bottle and the liquid container with orange body together, one per arm.",
+    "Grasp the different bottles the bottle with orange cap and the cylindrical orange bottle with smooth surface simultaneously.",
+    "Pick up the medium orange bottle and the orange bottle with bold labeling simultaneously.",
+    "Catch the orange bottle and the rounded orange bottle with yellow top together.",
+    "Pick the white and orange plastic bottle while the other arm picks the orange bottle.",
+    "Raise the cylindrical orange and white bottle and the cylindrical orange bottle with smooth surface at the same time.",
+    "Take hold of the yellow label bottle and the liquid container with orange body at once.",
+    "Hold the medium bottle with orange lid in one arm and the orange bottle with bold labeling in the other.",
+    "Assign one arm to the bottle with ribbed orange bottom and one to the small bottle with bright yellow lid.",
+    "Use both arms to grasp the bottle with ribbed orange bottom and the liquid container with orange body together.",
+    "Raise the plastic bottle with one arm and the yellow-capped bottle for beverages with the other.",
+    "Pick the medium orange bottle and the handheld medium-sized liquid bottle up in parallel.",
+    "Raise both bottles at once: the orange bottle and the liquid container with orange body.",
+    "Use one arm for the bottle with ribbed orange bottom and the other for the rounded orange bottle with yellow top.",
+    "Pick up the pair the bottle with ribbed orange bottom and the rounded bottom orange plastic bottle together.",
+    "Simultaneously grasp and lift the bottle with orange cap and the orange bottle.",
+    "Secure both the white and orange plastic bottle and the bottle with yellow cap simultaneously.",
+    "Lift the medium bottle with orange lid and the liquid container with orange body together with both arms.",
+    "Lift the cylindrical orange and white bottle and the cylindrical orange bottle with smooth surface in one synchronized motion.",
+    "Use both arms simultaneously for the yellow label bottle and the yellow-capped orange plastic bottle.",
+    "Grab both bottles in parallel, the drinking bottle with yellow label and the handheld medium-sized liquid bottle.",
+    "Each arm should grab one bottle: the cylindrical orange and white bottle and the orange bottle.",
+    "Lift both different bottles, the yellow label bottle and the smooth orange cylindrical bottle, together.",
+    "Use each arm to secure one of the bottle with orange cap and the yellow-capped bottle for beverages.",
+    "Hold both the white and orange plastic bottle and the rounded orange bottle with yellow top, one in each arm.",
+    "Pick up both the plastic bottle and the rounded bottom orange plastic bottle using separate arms.",
+    "Grab the medium orange bottle and the liquid container with orange body at the same time.",
+    "Reach for the medium bottle with orange lid and the orange bottle with bold labeling with both arms at once.",
+    "Use separate arms to lift the medium orange bottle and the orange bottle.",
+    "Grasp the smooth plastic bottle as the other arm grasps the bottle with yellow cap.",
+    "Take the drinking bottle with yellow label and the rounded bottom orange plastic bottle together, one per arm.",
+    "Grasp the different bottles the orange bottle and the yellow-capped orange plastic bottle simultaneously.",
+    "Pick up the orange bottle and the small bottle with bright yellow lid simultaneously.",
+    "Catch the plastic bottle and the orange bottle together.",
+    "Pick the bottle with ribbed orange bottom while the other arm picks the yellow-capped bottle for beverages.",
+    "Raise the medium orange bottle and the orange bottle with bold labeling at the same time.",
+    "Take hold of the bottle with ribbed orange bottom and the rounded orange bottle with yellow top at once.",
+    "Hold the white and orange plastic bottle in one arm and the orange bottle in the other.",
+    "Assign one arm to the drinking bottle with yellow label and one to the handheld medium-sized liquid bottle.",
+    "Use both arms to grasp the medium orange bottle and the yellow-capped orange plastic bottle together.",
+    "Raise the smooth plastic bottle with one arm and the rounded orange bottle with yellow top with the other.",
+    "Pick the orange and white bottle with cap and the small bottle with bright yellow lid up in parallel.",
+    "Raise both bottles at once: the bottle with orange cap and the smooth orange cylindrical bottle.",
+    "Use one arm for the drinking bottle with yellow label and the other for the bottle with yellow cap.",
+    "Pick up the pair the orange and white bottle with cap and the rounded bottom orange plastic bottle together.",
+    "Simultaneously grasp and lift the bottle with orange cap and the handheld medium-sized liquid bottle.",
+    "Secure both the orange bottle and the bottle with yellow cap simultaneously.",
+    "Lift the orange bottle and the smooth orange cylindrical bottle together with both arms.",
+    "Lift the smooth plastic bottle and the smooth orange cylindrical bottle in one synchronized motion.",
+    "Use both arms simultaneously for the drinking bottle with yellow label and the orange bottle with bold labeling.",
+    "Grab both bottles in parallel, the orange bottle and the handheld medium-sized liquid bottle.",
+    "Each arm should grab one bottle: the smooth plastic bottle and the handheld medium-sized liquid bottle.",
+    "Lift both different bottles, the plastic bottle and the orange bottle with bold labeling, together.",
+    "Use each arm to secure one of the smooth plastic bottle and the cylindrical orange bottle with smooth surface.",
+    "Hold both the medium bottle with orange lid and the orange bottle, one in each arm.",
+    "Pick up both the bottle with orange cap and the handheld medium-sized liquid bottle using separate arms.",
+    "Grab the drinking bottle with yellow label and the yellow-capped orange plastic bottle at the same time.",
+    "Reach for the orange bottle and the orange bottle with bold labeling with both arms at once.",
+    "Use separate arms to lift the plastic bottle and the smooth orange cylindrical bottle.",
+    "Grasp the white and orange plastic bottle as the other arm grasps the rounded bottom orange plastic bottle.",
+    "Take the bottle with orange cap and the orange bottle with bold labeling together, one per arm.",
+    "Grasp the different bottles the medium bottle with orange lid and the yellow-capped orange plastic bottle simultaneously.",
+    "Pick up the orange and white bottle with cap and the cylindrical orange bottle with smooth surface simultaneously.",
+    "Catch the drinking bottle with yellow label and the yellow-capped bottle for beverages together.",
+    "Pick the medium bottle with orange lid while the other arm picks the orange bottle with bold labeling.",
+    "Raise the orange bottle and the orange bottle with bold labeling at the same time.",
+    "Take hold of the cylindrical orange and white bottle and the handheld medium-sized liquid bottle at once.",
+    "Hold the drinking bottle with yellow label in one arm and the bottle with yellow cap in the other.",
+    "Assign one arm to the medium bottle with orange lid and one to the liquid container with orange body.",
+    "Use both arms to grasp the orange and white bottle with cap and the smooth orange cylindrical bottle together.",
+    "Raise the yellow label bottle with one arm and the handheld medium-sized liquid bottle with the other.",
+    "Pick the smooth plastic bottle and the smooth orange cylindrical bottle up in parallel.",
+    "Raise both bottles at once: the white and orange plastic bottle and the cylindrical orange bottle with smooth surface.",
+    "Use one arm for the cylindrical orange and white bottle and the other for the orange bottle.",
+    "Pick up the pair the medium bottle with orange lid and the cylindrical orange bottle with smooth surface together.",
+    "Simultaneously grasp and lift the medium bottle with orange lid and the rounded bottom orange plastic bottle.",
+    "Secure both the cylindrical orange and white bottle and the rounded bottom orange plastic bottle simultaneously.",
+    "Lift the plastic bottle and the rounded orange bottle with yellow top together with both arms.",
+    "Lift the medium orange bottle and the handheld medium-sized liquid bottle in one synchronized motion.",
+    "Use both arms simultaneously for the smooth plastic bottle and the yellow-capped bottle for beverages.",
+    "Grab both bottles in parallel, the orange bottle and the rounded bottom orange plastic bottle.",
+    "Each arm should grab one bottle: the bottle with ribbed orange bottom and the bottle with yellow cap.",
+    "Lift both different bottles, the medium bottle with orange lid and the orange bottle, together.",
+    "Use each arm to secure one of the plastic bottle and the orange bottle.",
+    "Hold both the bottle with orange cap and the smooth orange cylindrical bottle, one in each arm.",
+    "Pick up both the medium bottle with orange lid and the handheld medium-sized liquid bottle using separate arms.",
+    "Grab the plastic bottle and the smooth orange cylindrical bottle at the same time.",
+    "Reach for the bottle with orange cap and the smooth orange cylindrical bottle with both arms at once.",
+    "Use separate arms to lift the cylindrical orange and white bottle and the yellow-capped bottle for beverages.",
+    "Grasp the drinking bottle with yellow label as the other arm grasps the smooth orange cylindrical bottle.",
+    "Take the medium orange bottle and the smooth orange cylindrical bottle together, one per arm.",
+    "Grasp the different bottles the orange and white bottle with cap and the rounded orange bottle with yellow top simultaneously."
+  ],
+  "unseen": [
+    "Raise both different bottles, the curvy orange bottle with white section and the plastic orange bottle with rounded base, together.",
+    "Grab the curvy orange bottle with white section and the medium bottle for liquids at the same time.",
+    "Use one arm for the bottle with curved body and the other for the plastic orange bottle with rounded base.",
+    "Pick up the bottle with curved body and the medium bottle for liquids in parallel.",
+    "Grasp the curvy orange bottle with white section and the medium bottle for liquids simultaneously.",
+    "Pick up both the curvy orange bottle with white section and the plastic orange bottle with rounded base together.",
+    "Take hold of the bottle with curved body and the medium plastic bottle at once.",
+    "Lift the bottle with curved body as the other arm lifts the medium bottle for liquids.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the medium bottle for liquids.",
+    "Lift the bottle with curved body and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with curved body and the medium plastic bottle, together.",
+    "Grab the bottle with yellow sticker label and the medium plastic bottle at the same time.",
+    "Use one arm for the curvy orange bottle with white section and the other for the medium plastic bottle.",
+    "Pick up the curvy orange bottle with white section and the medium bottle for liquids in parallel.",
+    "Grasp the curvy orange bottle with white section and the medium plastic bottle simultaneously.",
+    "Pick up both the bottle with yellow sticker label and the medium plastic bottle together.",
+    "Take hold of the bottle with curved body and the medium plastic bottle at once.",
+    "Lift the bottle with curved body as the other arm lifts the medium plastic bottle.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the medium bottle for liquids.",
+    "Lift the bottle with curved body and the medium bottle for liquids simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with yellow sticker label and the medium bottle for liquids, together.",
+    "Grab the bottle with yellow sticker label and the medium plastic bottle at the same time.",
+    "Use one arm for the bottle with curved body and the other for the medium bottle for liquids.",
+    "Pick up the bottle with yellow sticker label and the medium plastic bottle in parallel.",
+    "Grasp the bottle with yellow sticker label and the plastic orange bottle with rounded base simultaneously.",
+    "Pick up both the bottle with yellow sticker label and the plastic orange bottle with rounded base together.",
+    "Take hold of the curvy orange bottle with white section and the medium plastic bottle at once.",
+    "Lift the bottle with curved body as the other arm lifts the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the medium bottle for liquids.",
+    "Lift the bottle with curved body and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the curvy orange bottle with white section and the medium plastic bottle, together.",
+    "Grab the bottle with curved body and the medium plastic bottle at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the plastic orange bottle with rounded base.",
+    "Pick up the curvy orange bottle with white section and the medium bottle for liquids in parallel.",
+    "Grasp the curvy orange bottle with white section and the medium bottle for liquids simultaneously.",
+    "Pick up both the bottle with curved body and the medium bottle for liquids together.",
+    "Take hold of the curvy orange bottle with white section and the plastic orange bottle with rounded base at once.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the medium plastic bottle.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the plastic orange bottle with rounded base.",
+    "Lift the bottle with yellow sticker label and the medium plastic bottle simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with yellow sticker label and the medium plastic bottle, together.",
+    "Grab the curvy orange bottle with white section and the plastic orange bottle with rounded base at the same time.",
+    "Use one arm for the curvy orange bottle with white section and the other for the medium plastic bottle.",
+    "Pick up the bottle with curved body and the plastic orange bottle with rounded base in parallel.",
+    "Grasp the bottle with curved body and the medium bottle for liquids simultaneously.",
+    "Pick up both the bottle with curved body and the plastic orange bottle with rounded base together.",
+    "Take hold of the curvy orange bottle with white section and the medium bottle for liquids at once.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the bottle with curved body and the medium plastic bottle.",
+    "Lift the bottle with yellow sticker label and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the curvy orange bottle with white section and the medium bottle for liquids, together.",
+    "Grab the bottle with curved body and the medium bottle for liquids at the same time.",
+    "Use one arm for the bottle with curved body and the other for the plastic orange bottle with rounded base.",
+    "Pick up the curvy orange bottle with white section and the medium plastic bottle in parallel.",
+    "Grasp the curvy orange bottle with white section and the medium bottle for liquids simultaneously.",
+    "Pick up both the curvy orange bottle with white section and the plastic orange bottle with rounded base together.",
+    "Take hold of the curvy orange bottle with white section and the medium plastic bottle at once.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the medium bottle for liquids.",
+    "Lift the bottle with yellow sticker label and the medium bottle for liquids simultaneously with separate arms.",
+    "Raise both different bottles, the curvy orange bottle with white section and the medium plastic bottle, together.",
+    "Grab the curvy orange bottle with white section and the medium bottle for liquids at the same time.",
+    "Use one arm for the curvy orange bottle with white section and the other for the plastic orange bottle with rounded base.",
+    "Pick up the curvy orange bottle with white section and the medium bottle for liquids in parallel.",
+    "Grasp the bottle with yellow sticker label and the plastic orange bottle with rounded base simultaneously.",
+    "Pick up both the bottle with curved body and the medium bottle for liquids together.",
+    "Take hold of the bottle with yellow sticker label and the medium bottle for liquids at once.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the medium bottle for liquids.",
+    "Use each arm to grab one of the curvy orange bottle with white section and the medium bottle for liquids.",
+    "Lift the bottle with curved body and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with curved body and the medium plastic bottle, together.",
+    "Grab the bottle with curved body and the medium bottle for liquids at the same time.",
+    "Use one arm for the curvy orange bottle with white section and the other for the medium bottle for liquids.",
+    "Pick up the bottle with curved body and the plastic orange bottle with rounded base in parallel.",
+    "Grasp the curvy orange bottle with white section and the medium plastic bottle simultaneously.",
+    "Pick up both the bottle with curved body and the medium bottle for liquids together.",
+    "Take hold of the bottle with curved body and the medium bottle for liquids at once.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the medium plastic bottle.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the medium plastic bottle.",
+    "Lift the bottle with yellow sticker label and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the curvy orange bottle with white section and the plastic orange bottle with rounded base, together.",
+    "Grab the bottle with yellow sticker label and the medium plastic bottle at the same time.",
+    "Use one arm for the bottle with yellow sticker label and the other for the medium plastic bottle.",
+    "Pick up the bottle with yellow sticker label and the medium bottle for liquids in parallel.",
+    "Grasp the bottle with yellow sticker label and the plastic orange bottle with rounded base simultaneously.",
+    "Pick up both the bottle with yellow sticker label and the medium plastic bottle together.",
+    "Take hold of the curvy orange bottle with white section and the medium plastic bottle at once.",
+    "Lift the bottle with yellow sticker label as the other arm lifts the plastic orange bottle with rounded base.",
+    "Use each arm to grab one of the bottle with yellow sticker label and the medium bottle for liquids.",
+    "Lift the curvy orange bottle with white section and the plastic orange bottle with rounded base simultaneously with separate arms.",
+    "Raise both different bottles, the bottle with curved body and the plastic orange bottle with rounded base, together.",
+    "Grab the bottle with curved body and the medium plastic bottle at the same time.",
+    "Use one arm for the bottle with curved body and the other for the medium plastic bottle.",
+    "Pick up the bottle with yellow sticker label and the medium bottle for liquids in parallel.",
+    "Grasp the bottle with yellow sticker label and the plastic orange bottle with rounded base simultaneously.",
+    "Pick up both the bottle with curved body and the medium bottle for liquids together.",
+    "Take hold of the bottle with curved body and the medium bottle for liquids at once.",
+    "Lift the curvy orange bottle with white section as the other arm lifts the medium bottle for liquids.",
+    "Use each arm to grab one of the bottle with curved body and the medium plastic bottle.",
+    "Lift the curvy orange bottle with white section and the plastic orange bottle with rounded base simultaneously with separate arms."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000047.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000047.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6dd3e652d554fa1d6c9e248046ce44e85272674
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000047.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the medium bottle with smooth texture and the other for the smooth black bottle with ridges.",
+    "Pick up both the medium bottle with smooth texture and the bottle with blue and yellow print using separate arms.",
+    "Hold the bottle with dark brown color in one arm and the yellow-capped cylindrical bottle in the other.",
+    "Reach for the plastic bottle with printed label and the drink bottle with rounded yellow lid with both arms at once.",
+    "Grab both bottles in parallel, the white-capped brown cylindrical bottle and the medium bottle with yellow cap.",
+    "Simultaneously grasp and lift the handheld brown bottle with white lid and the drink bottle with rounded yellow lid.",
+    "Raise the cylindrical bottle with narrow neck and the black plastic bottle with Pepsi logo at the same time.",
+    "Grasp the bottle with dark brown color as the other arm grasps the medium bottle with yellow cap.",
+    "Use both arms simultaneously for the medium plastic bottle and the black cylindrical bottle with ridges.",
+    "Catch the bottle with brown body and white top and the drink bottle with rounded yellow lid together.",
+    "Raise both bottles at once: the handheld brown bottle with white lid and the black plastic bottle with Pepsi logo.",
+    "Lift the plastic bottle for liquids and the plastic bottle with colorful label together with both arms.",
+    "Lift both different bottles, the white-capped brown cylindrical bottle and the black plastic bottle with Pepsi logo, together.",
+    "Secure both the bottle with white cap and the smooth black bottle with ridges simultaneously.",
+    "Each arm should grab one bottle: the handheld brown bottle with white lid and the black cylindrical bottle with ridges.",
+    "Pick up the bottle with brown body and white top and the yellow capped drink bottle simultaneously.",
+    "Use both arms to grasp the bottle with brown body and white top and the smooth black bottle with ridges together.",
+    "Grab the smooth brown bottle and the bottle with blue and yellow print at the same time.",
+    "Hold both the cylindrical bottle with narrow neck and the drink bottle with rounded yellow lid, one in each arm.",
+    "Take the rounded bottle with printed details and the black plastic bottle with Pepsi logo together, one per arm.",
+    "Grasp the different bottles the medium bottle with smooth texture and the black cylindrical bottle with ridges simultaneously.",
+    "Assign one arm to the smooth brown bottle and one to the medium bottle with yellow cap.",
+    "Pick the rounded bottle with printed details while the other arm picks the medium bottle with yellow cap.",
+    "Take hold of the smooth brown bottle and the black bottle at once.",
+    "Raise the cylindrical bottle with narrow neck with one arm and the bottle with blue and yellow print with the other.",
+    "Use separate arms to lift the plastic bottle with printed label and the plastic bottle with colorful label.",
+    "Pick up the pair the bottle with white cap and the yellow capped drink bottle together.",
+    "Use each arm to secure one of the smooth brown bottle and the plastic bottle with colorful label.",
+    "Lift the plastic bottle for liquids and the yellow-capped cylindrical bottle in one synchronized motion.",
+    "Pick the plastic bottle for liquids and the medium bottle with yellow cap up in parallel.",
+    "Use one arm for the bottle with dark brown color and the other for the medium bottle with yellow cap.",
+    "Pick up both the plastic bottle for liquids and the black cylindrical bottle with ridges using separate arms.",
+    "Hold the smooth brown bottle in one arm and the yellow-capped cylindrical bottle in the other.",
+    "Reach for the bottle with dark brown color and the yellow capped drink bottle with both arms at once.",
+    "Grab both bottles in parallel, the medium plastic bottle and the smooth black bottle with ridges.",
+    "Simultaneously grasp and lift the cylindrical bottle with narrow neck and the smooth black bottle with ridges.",
+    "Raise the plastic bottle for liquids and the black cylindrical bottle with ridges at the same time.",
+    "Grasp the plastic bottle for liquids as the other arm grasps the medium black bottle with printed label.",
+    "Use both arms simultaneously for the bottle with white cap and the yellow capped drink bottle.",
+    "Catch the cylindrical bottle with narrow neck and the yellow capped drink bottle together.",
+    "Raise both bottles at once: the smooth brown bottle and the smooth black bottle with ridges.",
+    "Lift the smooth brown bottle and the black cylindrical bottle with ridges together with both arms.",
+    "Lift both different bottles, the plastic bottle with printed label and the black bottle, together.",
+    "Secure both the bottle with brown body and white top and the black cylindrical bottle with ridges simultaneously.",
+    "Each arm should grab one bottle: the plastic bottle for liquids and the beverage bottle with black body.",
+    "Pick up the bottle with white cap and the yellow-capped cylindrical bottle simultaneously.",
+    "Use both arms to grasp the plastic bottle with printed label and the yellow capped drink bottle together.",
+    "Grab the bottle with white cap and the black cylindrical bottle with ridges at the same time.",
+    "Hold both the plastic bottle for liquids and the drink bottle with rounded yellow lid, one in each arm.",
+    "Take the smooth brown bottle and the medium bottle with yellow cap together, one per arm.",
+    "Grasp the different bottles the bottle with white cap and the smooth black bottle with ridges simultaneously.",
+    "Assign one arm to the rounded bottle with printed details and one to the plastic bottle with colorful label.",
+    "Pick the bottle with dark brown color while the other arm picks the medium black bottle with printed label.",
+    "Take hold of the bottle with brown body and white top and the yellow-capped cylindrical bottle at once.",
+    "Raise the bottle with dark brown color with one arm and the beverage bottle with black body with the other.",
+    "Use separate arms to lift the bottle with brown body and white top and the plastic bottle with colorful label.",
+    "Pick up the pair the smooth brown bottle and the beverage bottle with black body together.",
+    "Use each arm to secure one of the bottle with brown body and white top and the black bottle.",
+    "Lift the smooth brown bottle and the yellow-capped cylindrical bottle in one synchronized motion.",
+    "Pick the bottle with white cap and the black bottle up in parallel.",
+    "Use one arm for the bottle with white cap and the other for the yellow-capped cylindrical bottle.",
+    "Pick up both the medium bottle with smooth texture and the beverage bottle with black body using separate arms.",
+    "Hold the handheld brown bottle with white lid in one arm and the smooth black bottle with ridges in the other.",
+    "Reach for the handheld brown bottle with white lid and the plastic bottle with colorful label with both arms at once.",
+    "Grab both bottles in parallel, the bottle with dark brown color and the bottle with blue and yellow print.",
+    "Simultaneously grasp and lift the rounded bottle with printed details and the medium black bottle with printed label.",
+    "Raise the bottle with brown body and white top and the black bottle at the same time.",
+    "Grasp the medium plastic bottle as the other arm grasps the beverage bottle with black body.",
+    "Use both arms simultaneously for the cylindrical bottle with narrow neck and the black plastic bottle with Pepsi logo.",
+    "Catch the medium plastic bottle and the plastic bottle with colorful label together.",
+    "Raise both bottles at once: the plastic bottle with printed label and the bottle with blue and yellow print.",
+    "Lift the smooth brown bottle and the black cylindrical bottle with ridges together with both arms.",
+    "Lift both different bottles, the cylindrical bottle with narrow neck and the medium bottle with yellow cap, together.",
+    "Secure both the medium plastic bottle and the black cylindrical bottle with ridges simultaneously.",
+    "Each arm should grab one bottle: the medium plastic bottle and the medium black bottle with printed label.",
+    "Pick up the plastic bottle for liquids and the plastic bottle with colorful label simultaneously.",
+    "Use both arms to grasp the medium plastic bottle and the beverage bottle with black body together.",
+    "Grab the bottle with dark brown color and the drink bottle with rounded yellow lid at the same time.",
+    "Hold both the medium plastic bottle and the black cylindrical bottle with ridges, one in each arm.",
+    "Take the white-capped brown cylindrical bottle and the drink bottle with rounded yellow lid together, one per arm.",
+    "Grasp the different bottles the medium bottle with smooth texture and the black bottle simultaneously.",
+    "Assign one arm to the bottle with brown body and white top and one to the bottle with blue and yellow print.",
+    "Pick the white-capped brown cylindrical bottle while the other arm picks the beverage bottle with black body.",
+    "Take hold of the rounded bottle with printed details and the yellow-capped cylindrical bottle at once.",
+    "Raise the white-capped brown cylindrical bottle with one arm and the beverage bottle with black body with the other.",
+    "Use separate arms to lift the smooth brown bottle and the bottle with blue and yellow print.",
+    "Pick up the pair the plastic bottle with printed label and the bottle with blue and yellow print together.",
+    "Use each arm to secure one of the handheld brown bottle with white lid and the yellow capped drink bottle.",
+    "Lift the cylindrical bottle with narrow neck and the black plastic bottle with Pepsi logo in one synchronized motion.",
+    "Pick the medium plastic bottle and the medium black bottle with printed label up in parallel.",
+    "Use one arm for the handheld brown bottle with white lid and the other for the yellow capped drink bottle.",
+    "Pick up both the medium bottle with smooth texture and the smooth black bottle with ridges using separate arms.",
+    "Hold the cylindrical bottle with narrow neck in one arm and the black bottle in the other.",
+    "Reach for the cylindrical bottle with narrow neck and the medium black bottle with printed label with both arms at once.",
+    "Grab both bottles in parallel, the smooth brown bottle and the drink bottle with rounded yellow lid.",
+    "Simultaneously grasp and lift the bottle with white cap and the yellow-capped cylindrical bottle.",
+    "Raise the bottle with white cap and the bottle with blue and yellow print at the same time.",
+    "Grasp the plastic bottle with printed label as the other arm grasps the smooth black bottle with ridges.",
+    "Use both arms simultaneously for the medium bottle with smooth texture and the black cylindrical bottle with ridges.",
+    "Catch the plastic bottle for liquids and the black plastic bottle with Pepsi logo together."
+  ],
+  "unseen": [
+    "Pick up the lightweight plastic brown bottle and the hand-sized bottle with ridged bottom in parallel.",
+    "Pick up both the brown bottle and the bottle with ridges near base together.",
+    "Lift the brown cylindrical bottle with label and the plastic bottle with blue label simultaneously with separate arms.",
+    "Take hold of the brown bottle and the hand-sized bottle with ridged bottom at once.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the bottle with ridges near base, together.",
+    "Grab the brown bottle and the bottle with ridges near base at the same time.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the plastic bottle with blue label.",
+    "Grasp the brown bottle and the plastic bottle with blue label simultaneously.",
+    "Use one arm for the brown bottle and the other for the hand-sized bottle with ridged bottom.",
+    "Pick up the brown bottle and the hand-sized bottle with ridged bottom in parallel.",
+    "Pick up both the lightweight plastic brown bottle and the hand-sized bottle with ridged bottom together.",
+    "Lift the lightweight plastic brown bottle and the plastic bottle with blue label simultaneously with separate arms.",
+    "Take hold of the brown bottle and the bottle with ridges near base at once.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the plastic bottle with blue label, together.",
+    "Grab the brown cylindrical bottle with label and the plastic bottle with blue label at the same time.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom.",
+    "Grasp the brown bottle and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the brown bottle and the other for the bottle with ridges near base.",
+    "Pick up the brown bottle and the hand-sized bottle with ridged bottom in parallel.",
+    "Pick up both the lightweight plastic brown bottle and the hand-sized bottle with ridged bottom together.",
+    "Lift the brown bottle and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Take hold of the lightweight plastic brown bottle and the bottle with ridges near base at once.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the plastic bottle with blue label, together.",
+    "Grab the lightweight plastic brown bottle and the plastic bottle with blue label at the same time.",
+    "Lift the brown bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the plastic bottle with blue label.",
+    "Grasp the brown bottle and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the hand-sized bottle with ridged bottom.",
+    "Pick up the brown cylindrical bottle with label and the plastic bottle with blue label in parallel.",
+    "Pick up both the brown bottle and the hand-sized bottle with ridged bottom together.",
+    "Lift the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Take hold of the brown bottle and the plastic bottle with blue label at once.",
+    "Raise both different bottles, the brown cylindrical bottle with label and the bottle with ridges near base, together.",
+    "Grab the brown bottle and the plastic bottle with blue label at the same time.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Use each arm to grab one of the brown bottle and the hand-sized bottle with ridged bottom.",
+    "Grasp the brown cylindrical bottle with label and the bottle with ridges near base simultaneously.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the bottle with ridges near base.",
+    "Pick up the brown bottle and the plastic bottle with blue label in parallel.",
+    "Pick up both the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom together.",
+    "Lift the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Take hold of the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom at once.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the hand-sized bottle with ridged bottom, together.",
+    "Grab the brown bottle and the bottle with ridges near base at the same time.",
+    "Lift the brown bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom.",
+    "Grasp the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the hand-sized bottle with ridged bottom.",
+    "Pick up the lightweight plastic brown bottle and the bottle with ridges near base in parallel.",
+    "Pick up both the brown bottle and the plastic bottle with blue label together.",
+    "Lift the brown bottle and the bottle with ridges near base simultaneously with separate arms.",
+    "Take hold of the brown cylindrical bottle with label and the plastic bottle with blue label at once.",
+    "Raise both different bottles, the brown bottle and the bottle with ridges near base, together.",
+    "Grab the brown cylindrical bottle with label and the plastic bottle with blue label at the same time.",
+    "Lift the brown bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the brown bottle and the bottle with ridges near base.",
+    "Grasp the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the brown bottle and the other for the hand-sized bottle with ridged bottom.",
+    "Pick up the brown bottle and the plastic bottle with blue label in parallel.",
+    "Pick up both the brown cylindrical bottle with label and the plastic bottle with blue label together.",
+    "Lift the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Take hold of the lightweight plastic brown bottle and the bottle with ridges near base at once.",
+    "Raise both different bottles, the lightweight plastic brown bottle and the plastic bottle with blue label, together.",
+    "Grab the lightweight plastic brown bottle and the bottle with ridges near base at the same time.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Use each arm to grab one of the brown bottle and the hand-sized bottle with ridged bottom.",
+    "Grasp the brown bottle and the hand-sized bottle with ridged bottom simultaneously.",
+    "Use one arm for the brown bottle and the other for the hand-sized bottle with ridged bottom.",
+    "Pick up the brown bottle and the plastic bottle with blue label in parallel.",
+    "Pick up both the brown bottle and the plastic bottle with blue label together.",
+    "Lift the lightweight plastic brown bottle and the bottle with ridges near base simultaneously with separate arms.",
+    "Take hold of the lightweight plastic brown bottle and the plastic bottle with blue label at once.",
+    "Raise both different bottles, the brown bottle and the plastic bottle with blue label, together.",
+    "Grab the lightweight plastic brown bottle and the plastic bottle with blue label at the same time.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the hand-sized bottle with ridged bottom.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom.",
+    "Grasp the brown bottle and the plastic bottle with blue label simultaneously.",
+    "Use one arm for the brown cylindrical bottle with label and the other for the hand-sized bottle with ridged bottom.",
+    "Pick up the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom in parallel.",
+    "Pick up both the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom together.",
+    "Lift the brown bottle and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Take hold of the brown bottle and the bottle with ridges near base at once.",
+    "Raise both different bottles, the brown bottle and the hand-sized bottle with ridged bottom, together.",
+    "Grab the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom at the same time.",
+    "Lift the brown bottle as the other arm lifts the plastic bottle with blue label.",
+    "Use each arm to grab one of the lightweight plastic brown bottle and the bottle with ridges near base.",
+    "Grasp the brown bottle and the bottle with ridges near base simultaneously.",
+    "Use one arm for the brown bottle and the other for the bottle with ridges near base.",
+    "Pick up the lightweight plastic brown bottle and the plastic bottle with blue label in parallel.",
+    "Pick up both the brown bottle and the bottle with ridges near base together.",
+    "Lift the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom simultaneously with separate arms.",
+    "Take hold of the brown bottle and the bottle with ridges near base at once.",
+    "Raise both different bottles, the brown bottle and the plastic bottle with blue label, together.",
+    "Grab the brown bottle and the bottle with ridges near base at the same time.",
+    "Lift the lightweight plastic brown bottle as the other arm lifts the bottle with ridges near base.",
+    "Use each arm to grab one of the brown cylindrical bottle with label and the hand-sized bottle with ridged bottom.",
+    "Grasp the brown bottle and the bottle with ridges near base simultaneously.",
+    "Use one arm for the lightweight plastic brown bottle and the other for the bottle with ridges near base."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000048.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000048.json
new file mode 100644
index 0000000000000000000000000000000000000000..c650e3741826beb934ea6cd10f2cfc92e41d7331
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000048.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use separate arms to lift the yellow-capped plastic bottle and the smooth plastic bottle.",
+    "Grasp the different bottles the bottle with printed label and the plastic bottle simultaneously.",
+    "Raise the yellow-capped plastic bottle and the cylindrical bottle at the same time.",
+    "Lift the bottle for liquids and the medium bottle for beverages together with both arms.",
+    "Hold both the yellow-capped plastic bottle and the white bottle with blue accents, one in each arm.",
+    "Grasp the orange cylindrical bottle as the other arm grasps the cylindrical bottle.",
+    "Pick up the pair the bottle for liquids and the blue bottle with label together.",
+    "Secure both the medium-sized orange bottle and the medium-sized bottle simultaneously.",
+    "Pick up the cylindrical orange bottle with yellow top and the handheld bottle simultaneously.",
+    "Assign one arm to the smooth plastic bottle and one to the blue bottle with label.",
+    "Pick the cylindrical orange bottle with yellow top and the blue bottle up in parallel.",
+    "Take the orange bottle and the white bottle with blue accents together, one per arm.",
+    "Take hold of the medium-sized orange bottle and the smooth plastic bottle at once.",
+    "Raise the bottle with yellow cap with one arm and the blue bottle with the other.",
+    "Grab both bottles in parallel, the plastic bottle with sealed yellow cap and the smooth plastic bottle.",
+    "Lift both different bottles, the plastic bottle with sealed yellow cap and the white bottle with blue accents, together.",
+    "Hold the yellow-capped plastic bottle in one arm and the white bottle with blue accents in the other.",
+    "Catch the yellow-capped plastic bottle and the handheld bottle together.",
+    "Lift the plastic bottle with sealed yellow cap and the blue bottle with label in one synchronized motion.",
+    "Each arm should grab one bottle: the bottle with yellow cap and the blue bottle with label.",
+    "Use one arm for the bottle for liquids and the other for the plastic bottle.",
+    "Pick the plastic bottle while the other arm picks the bottle with blue cap.",
+    "Pick up both the smooth plastic bottle and the bottle with blue cap using separate arms.",
+    "Raise both bottles at once: the medium-sized orange bottle and the bottle for liquids.",
+    "Use both arms simultaneously for the plastic bottle with sealed yellow cap and the bottle for liquids.",
+    "Grab the orange cylindrical bottle and the bottle for liquids at the same time.",
+    "Use each arm to secure one of the smooth plastic bottle and the handheld bottle.",
+    "Use both arms to grasp the cylindrical orange bottle with yellow top and the medium bottle for beverages together.",
+    "Simultaneously grasp and lift the plastic bottle with sealed yellow cap and the white and blue bottle.",
+    "Reach for the orange bottle and the white bottle with blue accents with both arms at once.",
+    "Use separate arms to lift the yellow-capped plastic bottle and the blue bottle.",
+    "Grasp the different bottles the bottle with printed label and the blue bottle simultaneously.",
+    "Raise the orange bottle and the white and blue bottle at the same time.",
+    "Lift the bottle with printed label and the blue bottle with label together with both arms.",
+    "Hold both the orange bottle and the medium-sized bottle, one in each arm.",
+    "Grasp the medium-sized orange bottle as the other arm grasps the blue bottle.",
+    "Pick up the pair the bottle with yellow cap and the blue bottle together.",
+    "Secure both the bottle with printed label and the blue bottle with label simultaneously.",
+    "Pick up the cylindrical orange bottle with yellow top and the bottle with blue cap simultaneously.",
+    "Assign one arm to the cylindrical orange bottle with yellow top and one to the handheld bottle.",
+    "Pick the medium-sized orange bottle and the medium-sized bottle up in parallel.",
+    "Take the orange bottle and the medium bottle for beverages together, one per arm.",
+    "Take hold of the yellow-capped plastic bottle and the medium bottle for beverages at once.",
+    "Raise the cylindrical orange bottle with yellow top with one arm and the white bottle with blue accents with the other.",
+    "Grab both bottles in parallel, the bottle with yellow cap and the blue bottle.",
+    "Lift both different bottles, the bottle with yellow cap and the bottle for liquids, together.",
+    "Hold the plastic bottle in one arm and the blue bottle in the other.",
+    "Catch the yellow-capped plastic bottle and the bottle with blue cap together.",
+    "Lift the plastic bottle and the blue bottle with label in one synchronized motion.",
+    "Each arm should grab one bottle: the orange cylindrical bottle and the handheld bottle.",
+    "Use one arm for the cylindrical orange bottle with yellow top and the other for the cylindrical bottle.",
+    "Pick the plastic bottle while the other arm picks the plastic bottle.",
+    "Pick up both the smooth plastic bottle and the blue bottle using separate arms.",
+    "Raise both bottles at once: the yellow-capped plastic bottle and the white and blue bottle.",
+    "Use both arms simultaneously for the bottle with yellow cap and the white and blue bottle.",
+    "Grab the bottle with printed label and the medium bottle for beverages at the same time.",
+    "Use each arm to secure one of the bottle with printed label and the medium-sized bottle.",
+    "Use both arms to grasp the orange bottle and the cylindrical bottle together.",
+    "Simultaneously grasp and lift the bottle with yellow cap and the white bottle with blue accents.",
+    "Reach for the plastic bottle and the blue bottle with both arms at once.",
+    "Use separate arms to lift the smooth plastic bottle and the plastic bottle.",
+    "Grasp the different bottles the orange cylindrical bottle and the handheld bottle simultaneously.",
+    "Raise the orange cylindrical bottle and the white and blue bottle at the same time.",
+    "Lift the medium-sized orange bottle and the white bottle with blue accents together with both arms.",
+    "Hold both the orange cylindrical bottle and the blue bottle with label, one in each arm.",
+    "Grasp the bottle with yellow cap as the other arm grasps the white bottle with blue accents.",
+    "Pick up the pair the orange cylindrical bottle and the white bottle with blue accents together.",
+    "Secure both the bottle with narrow neck and the white and blue bottle simultaneously.",
+    "Pick up the orange bottle and the cylindrical bottle simultaneously.",
+    "Assign one arm to the bottle with narrow neck and one to the handheld bottle.",
+    "Pick the orange bottle and the medium bottle for beverages up in parallel.",
+    "Take the cylindrical orange bottle with yellow top and the medium-sized bottle together, one per arm.",
+    "Take hold of the bottle for liquids and the blue bottle with label at once.",
+    "Raise the smooth plastic bottle with one arm and the plastic bottle with the other.",
+    "Grab both bottles in parallel, the yellow-capped plastic bottle and the bottle with blue cap.",
+    "Lift both different bottles, the orange bottle and the plastic bottle, together.",
+    "Hold the yellow-capped plastic bottle in one arm and the smooth plastic bottle in the other.",
+    "Catch the bottle with narrow neck and the blue bottle together.",
+    "Lift the orange cylindrical bottle and the medium bottle for beverages in one synchronized motion.",
+    "Each arm should grab one bottle: the bottle with printed label and the white and blue bottle.",
+    "Use one arm for the bottle for liquids and the other for the cylindrical bottle.",
+    "Pick the orange cylindrical bottle while the other arm picks the cylindrical bottle.",
+    "Pick up both the bottle with yellow cap and the white bottle with blue accents using separate arms.",
+    "Raise both bottles at once: the plastic bottle with sealed yellow cap and the handheld bottle.",
+    "Use both arms simultaneously for the bottle with printed label and the smooth plastic bottle.",
+    "Grab the plastic bottle with sealed yellow cap and the handheld bottle at the same time.",
+    "Use each arm to secure one of the yellow-capped plastic bottle and the medium bottle for beverages.",
+    "Use both arms to grasp the smooth plastic bottle and the white bottle with blue accents together.",
+    "Simultaneously grasp and lift the bottle with printed label and the white bottle with blue accents.",
+    "Reach for the bottle with yellow cap and the blue bottle with label with both arms at once.",
+    "Use separate arms to lift the cylindrical orange bottle with yellow top and the medium-sized bottle.",
+    "Grasp the different bottles the yellow-capped plastic bottle and the plastic bottle simultaneously.",
+    "Raise the orange bottle and the bottle with blue cap at the same time.",
+    "Lift the cylindrical orange bottle with yellow top and the medium-sized bottle together with both arms.",
+    "Hold both the yellow-capped plastic bottle and the plastic bottle, one in each arm.",
+    "Grasp the medium-sized orange bottle as the other arm grasps the cylindrical bottle.",
+    "Pick up the pair the orange cylindrical bottle and the bottle with blue cap together.",
+    "Secure both the cylindrical orange bottle with yellow top and the blue bottle with label simultaneously.",
+    "Pick up the bottle for liquids and the medium-sized bottle simultaneously.",
+    "Assign one arm to the yellow-capped plastic bottle and one to the smooth plastic bottle."
+  ],
+  "unseen": [
+    "Lift the label-covered orange bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Lift the orange bottle with smooth texture as the other arm lifts the bottle with ridged neck.",
+    "Use one arm for the orange bottle with smooth texture and the other for the bottle with curved neck design.",
+    "Grasp the handheld orange bottle and the bottle with curved neck design simultaneously.",
+    "Raise both different bottles, the label-covered orange bottle and the bottle with ridged neck, together.",
+    "Take hold of the handheld orange bottle and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the orange bottle with smooth texture and the bottle with ridged neck.",
+    "Pick up the handheld orange bottle and the bottle with curved neck design in parallel.",
+    "Pick up both the orange bottle with smooth texture and the blue-capped plastic bottle together.",
+    "Grab the label-covered orange bottle and the blue-capped plastic bottle at the same time.",
+    "Lift the label-covered orange bottle and the bottle with ridged neck simultaneously with separate arms.",
+    "Lift the label-covered orange bottle as the other arm lifts the bottle with ridged neck.",
+    "Use one arm for the label-covered orange bottle and the other for the bottle with ridged neck.",
+    "Grasp the orange bottle with smooth texture and the bottle with curved neck design simultaneously.",
+    "Raise both different bottles, the orange bottle with smooth texture and the bottle with curved neck design, together.",
+    "Take hold of the handheld orange bottle and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the orange bottle with smooth texture and the bottle with curved neck design.",
+    "Pick up the label-covered orange bottle and the bottle with ridged neck in parallel.",
+    "Pick up both the label-covered orange bottle and the bottle with curved neck design together.",
+    "Grab the handheld orange bottle and the blue-capped plastic bottle at the same time.",
+    "Lift the orange bottle with smooth texture and the bottle with ridged neck simultaneously with separate arms.",
+    "Lift the label-covered orange bottle as the other arm lifts the bottle with ridged neck.",
+    "Use one arm for the handheld orange bottle and the other for the bottle with curved neck design.",
+    "Grasp the label-covered orange bottle and the bottle with ridged neck simultaneously.",
+    "Raise both different bottles, the label-covered orange bottle and the bottle with curved neck design, together.",
+    "Take hold of the handheld orange bottle and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the label-covered orange bottle and the bottle with ridged neck.",
+    "Pick up the handheld orange bottle and the bottle with curved neck design in parallel.",
+    "Pick up both the label-covered orange bottle and the blue-capped plastic bottle together.",
+    "Grab the orange bottle with smooth texture and the bottle with curved neck design at the same time.",
+    "Lift the label-covered orange bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Lift the orange bottle with smooth texture as the other arm lifts the bottle with ridged neck.",
+    "Use one arm for the label-covered orange bottle and the other for the bottle with ridged neck.",
+    "Grasp the label-covered orange bottle and the blue-capped plastic bottle simultaneously.",
+    "Raise both different bottles, the orange bottle with smooth texture and the bottle with ridged neck, together.",
+    "Take hold of the orange bottle with smooth texture and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the label-covered orange bottle and the bottle with curved neck design.",
+    "Pick up the orange bottle with smooth texture and the bottle with ridged neck in parallel.",
+    "Pick up both the orange bottle with smooth texture and the bottle with curved neck design together.",
+    "Grab the label-covered orange bottle and the blue-capped plastic bottle at the same time.",
+    "Lift the orange bottle with smooth texture and the bottle with curved neck design simultaneously with separate arms.",
+    "Lift the label-covered orange bottle as the other arm lifts the bottle with ridged neck.",
+    "Use one arm for the orange bottle with smooth texture and the other for the blue-capped plastic bottle.",
+    "Grasp the orange bottle with smooth texture and the bottle with ridged neck simultaneously.",
+    "Raise both different bottles, the handheld orange bottle and the bottle with ridged neck, together.",
+    "Take hold of the handheld orange bottle and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the label-covered orange bottle and the bottle with curved neck design.",
+    "Pick up the label-covered orange bottle and the blue-capped plastic bottle in parallel.",
+    "Pick up both the handheld orange bottle and the bottle with curved neck design together.",
+    "Grab the label-covered orange bottle and the bottle with curved neck design at the same time.",
+    "Lift the handheld orange bottle and the bottle with ridged neck simultaneously with separate arms.",
+    "Lift the handheld orange bottle as the other arm lifts the bottle with curved neck design.",
+    "Use one arm for the handheld orange bottle and the other for the blue-capped plastic bottle.",
+    "Grasp the orange bottle with smooth texture and the bottle with ridged neck simultaneously.",
+    "Raise both different bottles, the orange bottle with smooth texture and the bottle with ridged neck, together.",
+    "Take hold of the label-covered orange bottle and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the label-covered orange bottle and the bottle with ridged neck.",
+    "Pick up the handheld orange bottle and the bottle with curved neck design in parallel.",
+    "Pick up both the label-covered orange bottle and the bottle with ridged neck together.",
+    "Grab the label-covered orange bottle and the bottle with ridged neck at the same time.",
+    "Lift the handheld orange bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Lift the orange bottle with smooth texture as the other arm lifts the bottle with curved neck design.",
+    "Use one arm for the label-covered orange bottle and the other for the blue-capped plastic bottle.",
+    "Grasp the label-covered orange bottle and the bottle with curved neck design simultaneously.",
+    "Raise both different bottles, the handheld orange bottle and the blue-capped plastic bottle, together.",
+    "Take hold of the handheld orange bottle and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the orange bottle with smooth texture and the blue-capped plastic bottle.",
+    "Pick up the label-covered orange bottle and the blue-capped plastic bottle in parallel.",
+    "Pick up both the label-covered orange bottle and the bottle with curved neck design together.",
+    "Grab the handheld orange bottle and the bottle with curved neck design at the same time.",
+    "Lift the handheld orange bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Lift the orange bottle with smooth texture as the other arm lifts the bottle with curved neck design.",
+    "Use one arm for the label-covered orange bottle and the other for the blue-capped plastic bottle.",
+    "Grasp the label-covered orange bottle and the bottle with ridged neck simultaneously.",
+    "Raise both different bottles, the orange bottle with smooth texture and the blue-capped plastic bottle, together.",
+    "Take hold of the orange bottle with smooth texture and the bottle with curved neck design at once.",
+    "Use each arm to grab one of the orange bottle with smooth texture and the bottle with ridged neck.",
+    "Pick up the label-covered orange bottle and the bottle with ridged neck in parallel.",
+    "Pick up both the orange bottle with smooth texture and the bottle with ridged neck together.",
+    "Grab the orange bottle with smooth texture and the bottle with curved neck design at the same time.",
+    "Lift the label-covered orange bottle and the blue-capped plastic bottle simultaneously with separate arms.",
+    "Lift the orange bottle with smooth texture as the other arm lifts the bottle with ridged neck.",
+    "Use one arm for the handheld orange bottle and the other for the bottle with ridged neck.",
+    "Grasp the handheld orange bottle and the bottle with ridged neck simultaneously.",
+    "Raise both different bottles, the orange bottle with smooth texture and the blue-capped plastic bottle, together.",
+    "Take hold of the orange bottle with smooth texture and the blue-capped plastic bottle at once.",
+    "Use each arm to grab one of the handheld orange bottle and the blue-capped plastic bottle.",
+    "Pick up the orange bottle with smooth texture and the blue-capped plastic bottle in parallel.",
+    "Pick up both the orange bottle with smooth texture and the blue-capped plastic bottle together.",
+    "Grab the label-covered orange bottle and the bottle with ridged neck at the same time.",
+    "Lift the handheld orange bottle and the bottle with curved neck design simultaneously with separate arms.",
+    "Lift the handheld orange bottle as the other arm lifts the bottle with ridged neck.",
+    "Use one arm for the orange bottle with smooth texture and the other for the blue-capped plastic bottle.",
+    "Grasp the label-covered orange bottle and the bottle with ridged neck simultaneously.",
+    "Raise both different bottles, the handheld orange bottle and the bottle with ridged neck, together.",
+    "Take hold of the label-covered orange bottle and the bottle with ridged neck at once.",
+    "Use each arm to grab one of the label-covered orange bottle and the bottle with ridged neck.",
+    "Pick up the orange bottle with smooth texture and the blue-capped plastic bottle in parallel.",
+    "Pick up both the orange bottle with smooth texture and the bottle with curved neck design together.",
+    "Grab the label-covered orange bottle and the bottle with ridged neck at the same time."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000049.json b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000049.json
new file mode 100644
index 0000000000000000000000000000000000000000..38faf1df25b3148c123b3dfa6dcc8dceaac4df5d
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/instruction/episode_0000049.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold both the medium bottle for beverages and the smooth orange bottle, one in each arm.",
+    "Raise the white bottle with blue accents and the plastic bottle at the same time.",
+    "Grab both bottles in parallel, the bottle with blue cap and the smooth orange bottle.",
+    "Pick up the white bottle with blue accents and the bottle for holding drinks simultaneously.",
+    "Use each arm to secure one of the white bottle with blue accents and the orange drink bottle with label.",
+    "Pick the smooth plastic bottle and the cylindrical orange plastic bottle up in parallel.",
+    "Take hold of the medium-sized bottle and the smooth orange bottle at once.",
+    "Grasp the different bottles the medium bottle for beverages and the bottle for holding drinks simultaneously.",
+    "Lift the handheld bottle and the orange drink bottle with label together with both arms.",
+    "Use one arm for the cylindrical bottle and the other for the bottle for holding drinks.",
+    "Raise both bottles at once: the white and blue bottle and the orange drink bottle with label.",
+    "Pick up the pair the plastic bottle and the orange drink bottle with label together.",
+    "Pick the plastic bottle while the other arm picks the orange drink bottle with label.",
+    "Raise the bottle with blue cap with one arm and the orange drink bottle with label with the other.",
+    "Use both arms to grasp the white and blue bottle and the smooth orange bottle together.",
+    "Lift the cylindrical bottle and the grooved orange drink bottle in one synchronized motion.",
+    "Pick up both the blue bottle with label and the light and medium-sized bottle using separate arms.",
+    "Grasp the handheld bottle as the other arm grasps the orange drink bottle with label.",
+    "Secure both the bottle for liquids and the bottle for holding drinks simultaneously.",
+    "Simultaneously grasp and lift the plastic bottle and the plastic bottle.",
+    "Use both arms simultaneously for the blue bottle and the medium bottle with colorful label.",
+    "Assign one arm to the handheld bottle and one to the curved orange soda bottle.",
+    "Lift both different bottles, the medium bottle for beverages and the plastic bottle, together.",
+    "Catch the blue bottle and the ridged orange bottle with grooves together.",
+    "Grab the blue bottle with label and the curved orange soda bottle at the same time.",
+    "Reach for the smooth plastic bottle and the orange bottle with both arms at once.",
+    "Take the medium bottle for beverages and the orange drink bottle with label together, one per arm.",
+    "Hold the white and blue bottle in one arm and the grooved orange drink bottle in the other.",
+    "Each arm should grab one bottle: the blue bottle with label and the smooth orange bottle.",
+    "Use separate arms to lift the blue bottle and the curved orange soda bottle.",
+    "Hold both the smooth plastic bottle and the orange bottle, one in each arm.",
+    "Raise the medium-sized bottle and the grooved orange drink bottle at the same time.",
+    "Grab both bottles in parallel, the white bottle with blue accents and the grooved orange drink bottle.",
+    "Pick up the plastic bottle and the orange drink bottle with label simultaneously.",
+    "Use each arm to secure one of the smooth plastic bottle and the round-bottom bottle with white cap.",
+    "Pick the white and blue bottle and the round-bottom bottle with white cap up in parallel.",
+    "Take hold of the bottle for liquids and the orange drink bottle with label at once.",
+    "Grasp the different bottles the blue bottle with label and the curved orange soda bottle simultaneously.",
+    "Lift the white bottle with blue accents and the orange drink bottle with label together with both arms.",
+    "Use one arm for the medium bottle for beverages and the other for the smooth orange bottle.",
+    "Raise both bottles at once: the blue bottle with label and the smooth orange bottle.",
+    "Pick up the pair the white bottle with blue accents and the round-bottom bottle with white cap together.",
+    "Pick the cylindrical bottle while the other arm picks the medium bottle with colorful label.",
+    "Raise the medium-sized bottle with one arm and the plastic bottle with the other.",
+    "Use both arms to grasp the plastic bottle and the curved orange soda bottle together.",
+    "Lift the bottle for liquids and the round-bottom bottle with white cap in one synchronized motion.",
+    "Pick up both the handheld bottle and the round-bottom bottle with white cap using separate arms.",
+    "Grasp the cylindrical bottle as the other arm grasps the light and medium-sized bottle.",
+    "Secure both the white bottle with blue accents and the plastic bottle simultaneously.",
+    "Simultaneously grasp and lift the bottle for liquids and the orange drink bottle with label.",
+    "Use both arms simultaneously for the handheld bottle and the cylindrical orange plastic bottle.",
+    "Assign one arm to the blue bottle with label and one to the plastic bottle.",
+    "Lift both different bottles, the plastic bottle and the orange drink bottle with label, together.",
+    "Catch the plastic bottle and the grooved orange drink bottle together.",
+    "Grab the blue bottle with label and the light and medium-sized bottle at the same time.",
+    "Reach for the medium bottle for beverages and the smooth orange bottle with both arms at once.",
+    "Take the white and blue bottle and the curved orange soda bottle together, one per arm.",
+    "Hold the cylindrical bottle in one arm and the cylindrical orange plastic bottle in the other.",
+    "Each arm should grab one bottle: the plastic bottle and the grooved orange drink bottle.",
+    "Use separate arms to lift the medium-sized bottle and the ridged orange bottle with grooves.",
+    "Hold both the bottle for liquids and the bottle for holding drinks, one in each arm.",
+    "Raise the medium bottle for beverages and the medium bottle with colorful label at the same time.",
+    "Grab both bottles in parallel, the blue bottle and the plastic bottle.",
+    "Pick up the white and blue bottle and the orange drink bottle with label simultaneously.",
+    "Use each arm to secure one of the bottle for liquids and the orange bottle.",
+    "Pick the medium bottle for beverages and the curved orange soda bottle up in parallel.",
+    "Take hold of the cylindrical bottle and the grooved orange drink bottle at once.",
+    "Grasp the different bottles the bottle for liquids and the grooved orange drink bottle simultaneously.",
+    "Lift the medium bottle for beverages and the cylindrical orange plastic bottle together with both arms.",
+    "Use one arm for the bottle with blue cap and the other for the curved orange soda bottle.",
+    "Raise both bottles at once: the white bottle with blue accents and the smooth orange bottle.",
+    "Pick up the pair the blue bottle and the plastic bottle together.",
+    "Pick the blue bottle while the other arm picks the medium bottle with colorful label.",
+    "Raise the plastic bottle with one arm and the ridged orange bottle with grooves with the other.",
+    "Use both arms to grasp the blue bottle with label and the ridged orange bottle with grooves together.",
+    "Lift the handheld bottle and the bottle for holding drinks in one synchronized motion.",
+    "Pick up both the medium bottle for beverages and the orange drink bottle with label using separate arms.",
+    "Grasp the white and blue bottle as the other arm grasps the light and medium-sized bottle.",
+    "Secure both the white and blue bottle and the cylindrical orange plastic bottle simultaneously.",
+    "Simultaneously grasp and lift the handheld bottle and the medium bottle with colorful label.",
+    "Use both arms simultaneously for the blue bottle with label and the ridged orange bottle with grooves.",
+    "Assign one arm to the blue bottle and one to the bottle for holding drinks.",
+    "Lift both different bottles, the smooth plastic bottle and the grooved orange drink bottle, together.",
+    "Catch the bottle with blue cap and the bottle for holding drinks together.",
+    "Grab the medium bottle for beverages and the smooth orange bottle at the same time.",
+    "Reach for the white and blue bottle and the orange bottle with both arms at once.",
+    "Take the medium bottle for beverages and the medium bottle with colorful label together, one per arm.",
+    "Hold the white bottle with blue accents in one arm and the cylindrical orange plastic bottle in the other.",
+    "Each arm should grab one bottle: the cylindrical bottle and the bottle for holding drinks.",
+    "Use separate arms to lift the smooth plastic bottle and the medium bottle with colorful label.",
+    "Hold both the smooth plastic bottle and the ridged orange bottle with grooves, one in each arm.",
+    "Raise the blue bottle with label and the orange bottle at the same time.",
+    "Grab both bottles in parallel, the cylindrical bottle and the grooved orange drink bottle.",
+    "Pick up the medium-sized bottle and the curved orange soda bottle simultaneously.",
+    "Use each arm to secure one of the handheld bottle and the bottle for holding drinks.",
+    "Pick the blue bottle with label and the light and medium-sized bottle up in parallel.",
+    "Take hold of the bottle with blue cap and the orange drink bottle with label at once.",
+    "Grasp the different bottles the blue bottle and the cylindrical orange plastic bottle simultaneously.",
+    "Lift the medium-sized bottle and the curved orange soda bottle together with both arms.",
+    "Use one arm for the smooth plastic bottle and the other for the round-bottom bottle with white cap."
+  ],
+  "unseen": [
+    "Lift the bottle with curved neck design as the other arm lifts the bottle with ridged orange grip.",
+    "Raise both different bottles, the bottle with ridged neck and the white capped orange plastic bottle, together.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the white capped orange plastic bottle.",
+    "Use one arm for the bottle with ridged neck and the other for the bottle with white cap.",
+    "Grab the bottle with ridged neck and the white capped orange plastic bottle at the same time.",
+    "Pick up the bottle with ridged neck and the bottle with ridged orange grip in parallel.",
+    "Grasp the bottle with ridged neck and the bottle with ridged orange grip simultaneously.",
+    "Lift the blue-capped plastic bottle and the bottle with white cap simultaneously with separate arms.",
+    "Take hold of the bottle with curved neck design and the bottle with ridged orange grip at once.",
+    "Pick up both the blue-capped plastic bottle and the white capped orange plastic bottle together.",
+    "Lift the bottle with ridged neck as the other arm lifts the bottle with ridged orange grip.",
+    "Raise both different bottles, the bottle with ridged neck and the bottle with white cap, together.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with white cap.",
+    "Use one arm for the blue-capped plastic bottle and the other for the bottle with ridged orange grip.",
+    "Grab the bottle with curved neck design and the bottle with ridged orange grip at the same time.",
+    "Pick up the bottle with curved neck design and the bottle with white cap in parallel.",
+    "Grasp the bottle with ridged neck and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with curved neck design and the bottle with white cap simultaneously with separate arms.",
+    "Take hold of the bottle with curved neck design and the bottle with white cap at once.",
+    "Pick up both the blue-capped plastic bottle and the white capped orange plastic bottle together.",
+    "Lift the bottle with curved neck design as the other arm lifts the white capped orange plastic bottle.",
+    "Raise both different bottles, the bottle with curved neck design and the white capped orange plastic bottle, together.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the white capped orange plastic bottle.",
+    "Use one arm for the bottle with curved neck design and the other for the white capped orange plastic bottle.",
+    "Grab the bottle with ridged neck and the bottle with white cap at the same time.",
+    "Pick up the bottle with ridged neck and the bottle with ridged orange grip in parallel.",
+    "Grasp the bottle with ridged neck and the bottle with white cap simultaneously.",
+    "Lift the bottle with ridged neck and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Take hold of the bottle with ridged neck and the white capped orange plastic bottle at once.",
+    "Pick up both the bottle with ridged neck and the white capped orange plastic bottle together.",
+    "Lift the bottle with ridged neck as the other arm lifts the white capped orange plastic bottle.",
+    "Raise both different bottles, the blue-capped plastic bottle and the bottle with white cap, together.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with ridged orange grip.",
+    "Use one arm for the bottle with ridged neck and the other for the bottle with ridged orange grip.",
+    "Grab the bottle with curved neck design and the bottle with ridged orange grip at the same time.",
+    "Pick up the blue-capped plastic bottle and the bottle with white cap in parallel.",
+    "Grasp the blue-capped plastic bottle and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with curved neck design and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Take hold of the bottle with curved neck design and the bottle with white cap at once.",
+    "Pick up both the bottle with curved neck design and the white capped orange plastic bottle together.",
+    "Lift the bottle with curved neck design as the other arm lifts the white capped orange plastic bottle.",
+    "Raise both different bottles, the bottle with curved neck design and the white capped orange plastic bottle, together.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the bottle with white cap.",
+    "Use one arm for the bottle with curved neck design and the other for the bottle with ridged orange grip.",
+    "Grab the bottle with curved neck design and the bottle with white cap at the same time.",
+    "Pick up the bottle with ridged neck and the bottle with ridged orange grip in parallel.",
+    "Grasp the bottle with curved neck design and the white capped orange plastic bottle simultaneously.",
+    "Lift the bottle with curved neck design and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Take hold of the bottle with curved neck design and the white capped orange plastic bottle at once.",
+    "Pick up both the bottle with curved neck design and the bottle with white cap together.",
+    "Lift the bottle with ridged neck as the other arm lifts the bottle with white cap.",
+    "Raise both different bottles, the bottle with curved neck design and the bottle with ridged orange grip, together.",
+    "Use each arm to grab one of the bottle with ridged neck and the bottle with ridged orange grip.",
+    "Use one arm for the bottle with curved neck design and the other for the white capped orange plastic bottle.",
+    "Grab the blue-capped plastic bottle and the white capped orange plastic bottle at the same time.",
+    "Pick up the bottle with curved neck design and the bottle with white cap in parallel.",
+    "Grasp the bottle with ridged neck and the white capped orange plastic bottle simultaneously.",
+    "Lift the bottle with ridged neck and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Take hold of the bottle with ridged neck and the white capped orange plastic bottle at once.",
+    "Pick up both the bottle with ridged neck and the white capped orange plastic bottle together.",
+    "Lift the bottle with curved neck design as the other arm lifts the white capped orange plastic bottle.",
+    "Raise both different bottles, the bottle with curved neck design and the bottle with white cap, together.",
+    "Use each arm to grab one of the blue-capped plastic bottle and the white capped orange plastic bottle.",
+    "Use one arm for the bottle with curved neck design and the other for the bottle with ridged orange grip.",
+    "Grab the bottle with curved neck design and the bottle with ridged orange grip at the same time.",
+    "Pick up the blue-capped plastic bottle and the bottle with ridged orange grip in parallel.",
+    "Grasp the blue-capped plastic bottle and the bottle with ridged orange grip simultaneously.",
+    "Lift the bottle with ridged neck and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Take hold of the bottle with curved neck design and the bottle with white cap at once.",
+    "Pick up both the bottle with curved neck design and the bottle with white cap together.",
+    "Lift the bottle with ridged neck as the other arm lifts the bottle with white cap.",
+    "Raise both different bottles, the bottle with ridged neck and the bottle with ridged orange grip, together.",
+    "Use each arm to grab one of the bottle with ridged neck and the white capped orange plastic bottle.",
+    "Use one arm for the bottle with ridged neck and the other for the bottle with white cap.",
+    "Grab the bottle with curved neck design and the bottle with white cap at the same time.",
+    "Pick up the blue-capped plastic bottle and the white capped orange plastic bottle in parallel.",
+    "Grasp the bottle with ridged neck and the bottle with white cap simultaneously.",
+    "Lift the bottle with curved neck design and the white capped orange plastic bottle simultaneously with separate arms.",
+    "Take hold of the blue-capped plastic bottle and the bottle with ridged orange grip at once.",
+    "Pick up both the blue-capped plastic bottle and the white capped orange plastic bottle together.",
+    "Lift the bottle with ridged neck as the other arm lifts the white capped orange plastic bottle.",
+    "Raise both different bottles, the bottle with ridged neck and the white capped orange plastic bottle, together.",
+    "Use each arm to grab one of the bottle with ridged neck and the bottle with white cap.",
+    "Use one arm for the bottle with ridged neck and the other for the white capped orange plastic bottle.",
+    "Grab the bottle with ridged neck and the bottle with white cap at the same time.",
+    "Pick up the bottle with ridged neck and the bottle with ridged orange grip in parallel.",
+    "Grasp the bottle with ridged neck and the white capped orange plastic bottle simultaneously.",
+    "Lift the bottle with curved neck design and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Take hold of the blue-capped plastic bottle and the bottle with white cap at once.",
+    "Pick up both the bottle with curved neck design and the white capped orange plastic bottle together.",
+    "Lift the bottle with curved neck design as the other arm lifts the bottle with white cap.",
+    "Raise both different bottles, the bottle with curved neck design and the bottle with white cap, together.",
+    "Use each arm to grab one of the bottle with curved neck design and the bottle with white cap.",
+    "Use one arm for the bottle with ridged neck and the other for the bottle with white cap.",
+    "Grab the bottle with curved neck design and the white capped orange plastic bottle at the same time.",
+    "Pick up the bottle with ridged neck and the white capped orange plastic bottle in parallel.",
+    "Grasp the blue-capped plastic bottle and the white capped orange plastic bottle simultaneously.",
+    "Lift the blue-capped plastic bottle and the bottle with ridged orange grip simultaneously with separate arms.",
+    "Take hold of the bottle with curved neck design and the bottle with ridged orange grip at once.",
+    "Pick up both the bottle with ridged neck and the white capped orange plastic bottle together."
+  ]
+}
\ No newline at end of file
diff --git a/demo_flow/pick_diverse_bottles/aloha_agilex/scene_info.json b/demo_flow/pick_diverse_bottles/aloha_agilex/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e18fcf3e545791c892eff4c7c5e02e5a8071e29
--- /dev/null
+++ b/demo_flow/pick_diverse_bottles/aloha_agilex/scene_info.json
@@ -0,0 +1,552 @@
+{
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+        }
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+            "{B}": "001_bottle/base0"
+        }
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+    "episode_44": {
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