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+  "seen": [
+    "Pick the soft golden bread and the smooth loaf with rounded edges for the the beige basket with white grid design",
+    "Use the dual arm to place the soft golden bread and the brown loaf into the smooth textured breadbasket.",
+    "Move the soft doughy bread and the light brown loaf with smooth sides at once into the smooth textured breadbasket.",
+    "Take the soft golden bread and the soft brown bread together and place them into the basket for bread beige plastic.",
+    "Move the small bread and the soft brown bread to the medium oval basket for bread",
+    "Take the braided bread loaf and the small loaf with curved top then place in the beige breadbasket.",
+    "Grab both the soft golden bread and the brown loaf with the dual arm and place in the white oval breadbasket.",
+    "Simultaneously grab the small bread and the brown loaf using the dual arm, then drop them in the basket for bread beige plastic.",
+    "Grab two breads the golden brown bread with braided design and the small golden brown bread and place in the oval-shaped breadbasket.",
+    "Pick the bread with golden crust and the light brown bread with ridges and set them in the oval-shaped breadbasket.",
+    "Shift the small golden baked bread and the smooth loaf with rounded edges into the basket for bread beige plastic",
+    "Pick the soft golden bread and the hand-sized oval loaf, place them in the beige plastic breadbasket.",
+    "Lift the soft golden bread and the small loaf with curved top at once with the dual arm, then set them in the beige breadbasket.",
+    "Pick up both the round bread with crusty texture and the small golden brown bread, then place them in the oval perforated breadbasket white edges.",
+    "Simultaneously use the dual arm to drop the braided bread loaf and the light brown loaf with smooth sides in the medium plastic breadbasket oval shape.",
+    "Lift the smooth crusty small bread and the bread with split top with two arms, put in the white oval breadbasket.",
+    "Simultaneously grab the golden bread loaf with soft inside and the bread with golden-brown crust, drop in the oval perforated breadbasket white edges.",
+    "Grab both the smooth crusty small bread and the brown loaf, drop into the white oval breadbasket.",
+    "Shift the round bread with braided top and the hand-sized oval loaf together to the medium oval basket for bread.",
+    "Place the golden brown bread and the light brown bread with ridges in the beige breadbasket using the dual arm",
+    "Use both arms to move the small bread, the small loaf with curved top to the medium breadbasket with perforated sides.",
+    "Put the bread with golden crust and the brown loaf into the smooth textured breadbasket using two arms.",
+    "Take the soft doughy bread and the hand-sized oval loaf, place them inside the beige plastic breadbasket.",
+    "Use two arms and set the golden bread loaf with soft inside, the smooth loaf with rounded edges in the white oval breadbasket.",
+    "Take the golden bread loaf with soft inside and the light brown loaf with smooth sides to the medium breadbasket with perforated sides",
+    "Grab the small golden baked bread and the small loaf with curved top quickly and drop them into the white oval breadbasket.",
+    "Pick the round bread with braided top and the light brown bread with ridges for the the white oval breadbasket",
+    "Use the dual arm to place the small bread and the light brown bread with ridges into the medium oval basket for bread.",
+    "Move the small bread and the smooth loaf with rounded edges at once into the beige basket with white grid design.",
+    "Take the bread with golden crust and the light brown bread with ridges together and place them into the beige basket with white grid design.",
+    "Move the small bread and the smooth loaf with rounded edges to the beige plastic breadbasket",
+    "Take the bread with golden crust and the soft brown bread then place in the medium plastic breadbasket oval shape.",
+    "Grab both the small golden baked bread and the brown loaf with the dual arm and place in the beige basket with white grid design.",
+    "Simultaneously grab the bread with golden crust and the small golden brown bread using the dual arm, then drop them in the beige breadbasket.",
+    "Grab two breads the soft doughy bread and the soft brown bread and place in the beige basket with white grid design.",
+    "Pick the soft golden bread and the hand-sized oval loaf and set them in the smooth textured breadbasket.",
+    "Shift the golden brown bread and the bread with golden-brown crust into the medium breadbasket with perforated sides",
+    "Pick the bread with golden crust and the soft brown bread, place them in the oval perforated breadbasket white edges.",
+    "Lift the soft doughy bread and the light brown loaf with smooth sides at once with the dual arm, then set them in the oval-shaped breadbasket.",
+    "Pick up both the bread with golden crust and the small loaf with curved top, then place them in the beige plastic breadbasket.",
+    "Simultaneously use the dual arm to drop the golden brown bread with braided design and the bread with warm golden color in the medium plastic breadbasket oval shape.",
+    "Lift the smooth crusty small bread and the golden bread loaf with two arms, put in the beige basket with white grid design.",
+    "Simultaneously grab the round bread with crusty texture and the brown loaf, drop in the medium plastic breadbasket oval shape.",
+    "Grab both the small golden baked bread and the small golden brown bread, drop into the medium breadbasket with perforated sides.",
+    "Shift the golden brown bread with braided design and the light brown loaf with smooth sides together to the beige breadbasket.",
+    "Place the smooth crusty small bread and the smooth loaf with rounded edges in the oval perforated breadbasket white edges using the dual arm",
+    "Use both arms to move the soft golden bread, the brown loaf to the oval perforated breadbasket white edges.",
+    "Put the smooth crusty small bread and the small loaf with curved top into the beige plastic breadbasket using two arms.",
+    "Take the small bread and the golden bread loaf, place them inside the beige basket with white grid design.",
+    "Use two arms and set the golden bread loaf with soft inside, the hand-sized oval loaf in the oval-shaped breadbasket.",
+    "Take the bread with golden crust and the hand-sized oval loaf to the white oval breadbasket",
+    "Grab the small golden baked bread and the bread with golden-brown crust quickly and drop them into the beige basket with white grid design.",
+    "Pick the round bread with crusty texture and the golden bread loaf for the the beige basket with white grid design",
+    "Use the dual arm to place the soft golden bread and the smooth loaf with rounded edges into the beige breadbasket.",
+    "Move the golden bread loaf with soft inside and the light brown bread with ridges at once into the smooth textured breadbasket.",
+    "Take the golden bread loaf with soft inside and the small golden brown bread together and place them into the smooth textured breadbasket.",
+    "Move the golden brown bread with braided design and the golden bread loaf to the medium plastic breadbasket oval shape",
+    "Take the golden brown bread and the smooth loaf with rounded edges then place in the white oval breadbasket.",
+    "Grab both the small bread and the light brown loaf with smooth sides with the dual arm and place in the beige plastic breadbasket.",
+    "Simultaneously grab the soft golden bread and the small golden brown bread using the dual arm, then drop them in the medium plastic breadbasket oval shape.",
+    "Grab two breads the golden brown bread with braided design and the bread with split top and place in the white oval breadbasket.",
+    "Pick the bread with golden crust and the light brown loaf with smooth sides and set them in the oval perforated breadbasket white edges.",
+    "Shift the braided bread loaf and the bread with golden-brown crust into the medium plastic breadbasket oval shape",
+    "Pick the golden bread loaf with soft inside and the light brown loaf with smooth sides, place them in the beige breadbasket.",
+    "Lift the soft golden bread and the golden bread loaf at once with the dual arm, then set them in the medium plastic breadbasket oval shape.",
+    "Pick up both the round bread with braided top and the golden bread loaf, then place them in the basket for bread beige plastic.",
+    "Simultaneously use the dual arm to drop the golden brown bread and the soft brown bread in the beige basket with white grid design.",
+    "Lift the golden brown bread with braided design and the bread with golden-brown crust with two arms, put in the medium plastic breadbasket oval shape.",
+    "Simultaneously grab the round bread with crusty texture and the light brown bread with ridges, drop in the beige plastic breadbasket.",
+    "Grab both the bread with golden crust and the small golden brown bread, drop into the beige plastic breadbasket.",
+    "Shift the smooth crusty small bread and the soft brown bread together to the beige plastic breadbasket.",
+    "Place the golden bread loaf with soft inside and the bread with golden-brown crust in the medium plastic breadbasket oval shape using the dual arm",
+    "Use both arms to move the golden brown bread with braided design, the bread with split top to the oval-shaped breadbasket.",
+    "Put the bread with golden crust and the hand-sized oval loaf into the beige breadbasket using two arms.",
+    "Take the soft doughy bread and the light brown loaf with smooth sides, place them inside the medium plastic breadbasket oval shape.",
+    "Use two arms and set the small bread, the soft brown bread in the basket for bread beige plastic.",
+    "Take the small bread and the brown loaf to the basket for bread beige plastic",
+    "Grab the golden brown bread with braided design and the light brown loaf with smooth sides quickly and drop them into the beige plastic breadbasket.",
+    "Pick the soft doughy bread and the bread with golden-brown crust for the the beige plastic breadbasket",
+    "Use the dual arm to place the round bread with braided top and the brown loaf into the basket for carrying bread beige.",
+    "Move the round bread with braided top and the bread with warm golden color at once into the oval-shaped breadbasket.",
+    "Take the small bread and the golden bread loaf together and place them into the basket for bread beige plastic.",
+    "Move the golden bread loaf with soft inside and the bread with split top to the basket for carrying bread beige",
+    "Take the smooth crusty small bread and the smooth loaf with rounded edges then place in the medium breadbasket with perforated sides.",
+    "Grab both the smooth crusty small bread and the hand-sized oval loaf with the dual arm and place in the beige breadbasket.",
+    "Simultaneously grab the golden bread loaf with soft inside and the soft brown bread using the dual arm, then drop them in the basket for carrying bread beige.",
+    "Grab two breads the small golden baked bread and the small loaf with curved top and place in the basket for carrying bread beige.",
+    "Pick the golden brown bread and the bread with split top and set them in the beige basket with white grid design.",
+    "Shift the small golden baked bread and the soft brown bread into the beige plastic breadbasket",
+    "Pick the small golden baked bread and the bread with warm golden color, place them in the beige plastic breadbasket.",
+    "Lift the soft golden bread and the light brown loaf with smooth sides at once with the dual arm, then set them in the oval perforated breadbasket white edges.",
+    "Pick up both the round bread with braided top and the small golden brown bread, then place them in the oval perforated breadbasket white edges.",
+    "Simultaneously use the dual arm to drop the small bread and the golden bread loaf in the medium oval basket for bread.",
+    "Lift the soft golden bread and the light brown bread with ridges with two arms, put in the basket for bread beige plastic.",
+    "Simultaneously grab the round bread with crusty texture and the bread with warm golden color, drop in the medium oval basket for bread.",
+    "Grab both the golden brown bread with braided design and the hand-sized oval loaf, drop into the medium breadbasket with perforated sides.",
+    "Shift the soft doughy bread and the small golden brown bread together to the basket for bread beige plastic.",
+    "Place the golden brown bread and the smooth loaf with rounded edges in the medium breadbasket with perforated sides using the dual arm",
+    "Use both arms to move the golden brown bread, the smooth loaf with rounded edges to the oval perforated breadbasket white edges.",
+    "Put the braided bread loaf and the bread with golden-brown crust into the medium breadbasket with perforated sides using two arms."
+  ],
+  "unseen": [
+    "Use one arm to grab the palm-sized braided golden bread and the oval bread, drop in the white basket with beige bottom.",
+    "Grab the round braided loaf and the oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the oval bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the palm-sized braided golden bread and the oval bread and place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the braided top round bread and the rounded oval bread and place in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the white basket with beige bottom.",
+    "Place the palm-sized braided golden bread and the oval-shaped soft bread into the breadbasket with hollowed white walls using the dual arm",
+    "Use one arm to grab the palm-sized braided golden bread and the oval bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the rounded oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the round braided loaf and the oval-shaped soft bread, then place them in the white basket with beige bottom.",
+    "Grab the round braided loaf and the oval-shaped soft bread and put them in the breadbasket with hollowed white walls.",
+    "Pick the braided top round bread and the oval bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the round braided loaf and the oval-shaped soft bread and place in the white basket with beige bottom.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the round braided loaf and the oval bread into the white basket with beige bottom using the dual arm",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the braided top round bread and the rounded oval bread, then place them in the white basket with beige bottom.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the round braided loaf and the oval bread and place in the white basket with beige bottom.",
+    "Grab the braided top round bread and the oval bread with two arms, place in the white basket with beige bottom.",
+    "Place the braided top round bread and the rounded oval bread into the white basket with beige bottom using the dual arm",
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the round braided loaf and the rounded oval bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the oval-shaped soft bread and put them in the breadbasket with hollowed white walls.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the braided top round bread and the oval-shaped soft bread and place in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the braided top round bread and the rounded oval bread into the white basket with beige bottom using the dual arm",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop it into the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the breadbasket with hollowed white walls.",
+    "Pick the braided top round bread and the oval-shaped soft bread and place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the braided top round bread and the rounded oval bread and place in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the oval bread into the white basket with beige bottom using the dual arm",
+    "Use one arm to grab the palm-sized braided golden bread and the oval-shaped soft bread, drop in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the braided top round bread and the oval bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the rounded oval bread and put them in the white basket with beige bottom.",
+    "Pick the palm-sized braided golden bread and the oval bread and place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the round braided loaf and the oval-shaped soft bread and place in the white basket with beige bottom.",
+    "Grab the round braided loaf and the rounded oval bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the round braided loaf and the oval-shaped soft bread into the white basket with beige bottom using the dual arm",
+    "Use one arm to grab the palm-sized braided golden bread and the oval-shaped soft bread, drop in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and put them in the white basket with beige bottom.",
+    "Pick the round braided loaf and the oval bread and place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the oval bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the rounded oval bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the white basket with beige bottom.",
+    "Grab the braided top round bread and the oval bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the oval-shaped soft bread and put them in the breadbasket with hollowed white walls.",
+    "Pick the braided top round bread and the oval bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the oval-shaped soft bread and place in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the white basket with beige bottom.",
+    "Place the palm-sized braided golden bread and the oval-shaped soft bread into the white basket with beige bottom using the dual arm",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the rounded oval bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the rounded oval bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the rounded oval bread and put them in the breadbasket with hollowed white walls.",
+    "Pick the round braided loaf and the oval bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the braided top round bread and the oval-shaped soft bread and place in the white basket with beige bottom.",
+    "Grab the braided top round bread and the oval bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Place the palm-sized braided golden bread and the rounded oval bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the white basket with beige bottom.",
+    "Grab the round braided loaf and the oval bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the palm-sized braided golden bread and the rounded oval bread and place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the braided top round bread and the rounded oval bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the oval bread with two arms, place in the white basket with beige bottom.",
+    "Place the braided top round bread and the oval bread into the white basket with beige bottom using the dual arm",
+    "Use one arm to grab the braided top round bread and the oval-shaped soft bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the oval bread and drop it into the white basket with beige bottom.",
+    "Grab the braided top round bread and the rounded oval bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the braided top round bread and the oval bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the oval-shaped soft bread and put them in the white basket with beige bottom.",
+    "Pick the palm-sized braided golden bread and the oval-shaped soft bread and place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the round braided loaf and the oval-shaped soft bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the oval bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the oval bread into the breadbasket with hollowed white walls using the dual arm",
+    "Use one arm to grab the palm-sized braided golden bread and the oval bread, drop in the breadbasket with smooth bottom grid sides."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode1.json b/place_bread_basket/demo_clean/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..627693f235315a035e95709c71e76f590e137fcd
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bread loaf with uneven edges and the square-shaped bread to the rectangular breadbasket",
+    "Lift the hand-sized bread block and the golden bread with two arms, put in the rectangular breadbasket.",
+    "Pick up both the golden bread loaf and the golden bread, then place them in the breadbasket for bread storage.",
+    "Grab two breads the bread block with light patches and the golden bread and place in the plastic mesh breadbasket.",
+    "Pick the square-shaped bread and the hand-sized bread block, place them in the breadbasket for bread storage.",
+    "Take the cuboid bread and the hand-sized bread block together and place them into the textured beige breadbasket.",
+    "Take the light golden brown bread and the square-shaped bread, place them inside the plastic breadbasket with mesh sides.",
+    "Pick the square-shaped bread and the golden bread for the the breadbasket for bread storage",
+    "Grab both the golden bread and the cuboid bread with the dual arm and place in the medium rectangular breadbasket.",
+    "Shift the bread with rough texture and the square-shaped bread together to the breadbasket for bread storage.",
+    "Pick the bread loaf with uneven edges and the cuboid bread and set them in the textured beige breadbasket.",
+    "Grab both the bread loaf with bumpy surface and the light golden brown bread, drop into the breadbasket with textured sides.",
+    "Shift the bread with rough texture and the bread loaf with uneven edges into the breadbasket for bread storage",
+    "Take the bread with rough texture and the bread loaf with bumpy surface then place in the breadbasket for bread storage.",
+    "Simultaneously grab the golden bread loaf and the soft bread using the dual arm, then drop them in the rectangular breadbasket.",
+    "Use the dual arm to place the bread loaf with bumpy surface and the cuboid bread into the breadbasket with textured sides.",
+    "Lift the hand-sized bread block and the light golden brown bread at once with the dual arm, then set them in the woven light beige breadbasket.",
+    "Move the golden bread loaf and the bread with rough texture at once into the medium rectangular breadbasket.",
+    "Simultaneously grab the doughy and soft bread and the bread loaf with uneven edges, drop in the breadbasket for bread storage.",
+    "Use both arms to move the bread with rough texture, the doughy and soft bread to the light beige rectangular breadbasket.",
+    "Put the bread loaf with uneven edges and the hand-sized bread block into the textured beige breadbasket using two arms.",
+    "Simultaneously use the dual arm to drop the golden bread and the bread block with light patches in the woven light beige breadbasket.",
+    "Move the hand-sized bread block and the golden bread to the breadbasket with textured sides",
+    "Use two arms and set the soft bread, the bread loaf with bumpy surface in the light beige rectangular breadbasket.",
+    "Place the hand-sized bread block and the golden bread in the textured beige breadbasket using the dual arm",
+    "Grab the golden bread and the bread with rough texture quickly and drop them into the light beige rectangular breadbasket.",
+    "Take the cuboid bread and the light golden brown bread to the medium rectangular breadbasket",
+    "Lift the bread loaf with bumpy surface and the light golden brown bread with two arms, put in the beige breadbasket for holding bread.",
+    "Pick up both the bread with rough texture and the golden bread, then place them in the rectangular breadbasket.",
+    "Grab two breads the doughy and soft bread and the square-shaped bread and place in the medium rectangular breadbasket.",
+    "Pick the square-shaped bread and the soft bread, place them in the breadbasket with textured sides.",
+    "Take the light golden brown bread and the golden bread together and place them into the plastic mesh breadbasket.",
+    "Take the light golden brown bread and the light golden brown bread, place them inside the woven light beige breadbasket.",
+    "Pick the bread loaf with uneven edges and the hand-sized bread block for the the light beige rectangular breadbasket",
+    "Grab both the square-shaped bread and the bread with rough texture with the dual arm and place in the textured beige breadbasket.",
+    "Shift the doughy and soft bread and the doughy and soft bread together to the beige breadbasket.",
+    "Pick the bread block with light patches and the bread block with light patches and set them in the textured beige breadbasket.",
+    "Grab both the golden bread loaf and the square-shaped bread, drop into the beige breadbasket.",
+    "Shift the bread loaf with uneven edges and the bread loaf with bumpy surface into the light beige rectangular breadbasket",
+    "Take the bread with rough texture and the doughy and soft bread then place in the breadbasket for bread storage.",
+    "Simultaneously grab the bread loaf with uneven edges and the hand-sized bread block using the dual arm, then drop them in the plastic breadbasket with mesh sides.",
+    "Use the dual arm to place the cuboid bread and the bread block with light patches into the plastic mesh breadbasket.",
+    "Lift the hand-sized bread block and the bread with rough texture at once with the dual arm, then set them in the light and textured breadbasket.",
+    "Move the light golden brown bread and the golden bread loaf at once into the medium rectangular breadbasket.",
+    "Simultaneously grab the bread loaf with uneven edges and the bread with rough texture, drop in the light and textured breadbasket.",
+    "Use both arms to move the bread block with light patches, the bread with rough texture to the textured beige breadbasket.",
+    "Put the light golden brown bread and the bread with rough texture into the plastic mesh breadbasket using two arms.",
+    "Simultaneously use the dual arm to drop the hand-sized bread block and the golden bread in the textured beige breadbasket.",
+    "Move the soft bread and the bread with rough texture to the breadbasket with textured sides",
+    "Use two arms and set the golden bread, the soft bread in the rectangular breadbasket.",
+    "Place the doughy and soft bread and the cuboid bread in the rectangular breadbasket using the dual arm",
+    "Grab the doughy and soft bread and the bread loaf with uneven edges quickly and drop them into the textured beige breadbasket.",
+    "Take the golden bread loaf and the light golden brown bread to the beige breadbasket",
+    "Lift the square-shaped bread and the doughy and soft bread with two arms, put in the medium rectangular breadbasket.",
+    "Pick up both the bread loaf with uneven edges and the bread block with light patches, then place them in the beige breadbasket.",
+    "Grab two breads the doughy and soft bread and the bread block with light patches and place in the rectangular breadbasket.",
+    "Pick the soft bread and the bread loaf with bumpy surface, place them in the breadbasket with textured sides.",
+    "Take the hand-sized bread block and the bread loaf with bumpy surface together and place them into the medium rectangular breadbasket.",
+    "Take the hand-sized bread block and the golden bread, place them inside the medium rectangular breadbasket.",
+    "Pick the doughy and soft bread and the bread with rough texture for the the plastic breadbasket with mesh sides",
+    "Grab both the light golden brown bread and the light golden brown bread with the dual arm and place in the plastic breadbasket with mesh sides.",
+    "Shift the bread block with light patches and the golden bread together to the medium rectangular breadbasket.",
+    "Pick the golden bread loaf and the golden bread loaf and set them in the medium rectangular breadbasket.",
+    "Grab both the golden bread loaf and the bread with rough texture, drop into the rectangular breadbasket.",
+    "Shift the square-shaped bread and the hand-sized bread block into the breadbasket with textured sides",
+    "Take the hand-sized bread block and the light golden brown bread then place in the medium rectangular breadbasket.",
+    "Simultaneously grab the bread loaf with bumpy surface and the bread block with light patches using the dual arm, then drop them in the beige breadbasket for holding bread.",
+    "Use the dual arm to place the soft bread and the bread loaf with bumpy surface into the light beige rectangular breadbasket.",
+    "Lift the soft bread and the soft bread at once with the dual arm, then set them in the light and textured breadbasket.",
+    "Move the soft bread and the bread block with light patches at once into the rectangular breadbasket.",
+    "Simultaneously grab the soft bread and the bread loaf with uneven edges, drop in the woven light beige breadbasket.",
+    "Use both arms to move the hand-sized bread block, the square-shaped bread to the light and textured breadbasket.",
+    "Put the bread loaf with uneven edges and the square-shaped bread into the light beige rectangular breadbasket using two arms.",
+    "Simultaneously use the dual arm to drop the soft bread and the doughy and soft bread in the plastic mesh breadbasket.",
+    "Move the bread loaf with uneven edges and the doughy and soft bread to the plastic breadbasket with mesh sides",
+    "Use two arms and set the soft bread, the square-shaped bread in the beige breadbasket for holding bread.",
+    "Place the bread loaf with bumpy surface and the cuboid bread in the plastic mesh breadbasket using the dual arm",
+    "Grab the bread loaf with bumpy surface and the bread block with light patches quickly and drop them into the rectangular breadbasket.",
+    "Take the bread loaf with bumpy surface and the doughy and soft bread to the breadbasket with textured sides",
+    "Lift the golden bread loaf and the golden bread loaf with two arms, put in the plastic breadbasket with mesh sides.",
+    "Pick up both the bread loaf with uneven edges and the bread loaf with bumpy surface, then place them in the beige breadbasket for holding bread.",
+    "Grab two breads the light golden brown bread and the golden bread loaf and place in the breadbasket for bread storage.",
+    "Pick the hand-sized bread block and the cuboid bread, place them in the medium rectangular breadbasket.",
+    "Take the golden bread and the bread loaf with uneven edges together and place them into the textured beige breadbasket.",
+    "Take the bread loaf with uneven edges and the doughy and soft bread, place them inside the medium rectangular breadbasket.",
+    "Pick the bread with rough texture and the square-shaped bread for the the rectangular breadbasket",
+    "Grab both the hand-sized bread block and the bread loaf with uneven edges with the dual arm and place in the light and textured breadbasket.",
+    "Shift the square-shaped bread and the doughy and soft bread together to the light and textured breadbasket.",
+    "Pick the bread loaf with bumpy surface and the cuboid bread and set them in the beige breadbasket.",
+    "Grab both the bread block with light patches and the soft bread, drop into the breadbasket with textured sides.",
+    "Shift the bread loaf with bumpy surface and the doughy and soft bread into the plastic mesh breadbasket",
+    "Take the golden bread and the bread with rough texture then place in the beige breadbasket.",
+    "Simultaneously grab the bread loaf with bumpy surface and the soft bread using the dual arm, then drop them in the plastic mesh breadbasket.",
+    "Use the dual arm to place the bread with rough texture and the doughy and soft bread into the textured beige breadbasket.",
+    "Lift the square-shaped bread and the golden bread loaf at once with the dual arm, then set them in the light beige rectangular breadbasket.",
+    "Move the golden bread and the hand-sized bread block at once into the medium rectangular breadbasket.",
+    "Simultaneously grab the bread loaf with bumpy surface and the cuboid bread, drop in the textured beige breadbasket.",
+    "Use both arms to move the golden bread loaf, the bread loaf with uneven edges to the rectangular breadbasket.",
+    "Put the cuboid bread and the bread with rough texture into the plastic breadbasket with mesh sides using two arms.",
+    "Simultaneously use the dual arm to drop the bread with rough texture and the golden bread in the woven light beige breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread with golden crust and the bread with golden crust and drop them into the breadbasket with woven pattern.",
+    "Use one arm to grab the bread loaf with soft surface and the bread with golden crust, drop in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and put them in the shallow rectangular breadbasket.",
+    "Place the bread with golden crust and the bread loaf with soft surface into the breadbasket with woven pattern using the dual arm",
+    "Use the dual arm to pick up the rectangular bread loaf and the rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Pick the bread with golden crust and the bread loaf with soft surface and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust and the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and put them in the breadbasket with woven pattern.",
+    "Place the rectangular bread loaf and the rectangular bread loaf into the woven shallow breadbasket using the dual arm",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread with golden crust, then place them in the shallow rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the bread with golden crust and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and drop them into the breadbasket with woven pattern.",
+    "Use one arm to grab the rectangular bread loaf and the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and put them in the shallow rectangular breadbasket.",
+    "Place the rectangular bread loaf and the rectangular bread loaf into the breadbasket with woven pattern using the dual arm",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread loaf with soft surface, then place them in the woven shallow breadbasket.",
+    "Pick the rectangular bread loaf and the rectangular bread loaf and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the bread loaf with soft surface and place in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the rectangular bread loaf and drop them into the woven shallow breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the bread with golden crust, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and put them in the breadbasket with woven pattern.",
+    "Place the bread loaf with soft surface and the bread with golden crust into the shallow rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread with golden crust, then place them in the woven shallow breadbasket.",
+    "Pick the rectangular bread loaf and the bread loaf with soft surface and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the bread with golden crust and place in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Use one arm to grab the bread with golden crust and the bread loaf with soft surface, drop in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Place the bread with golden crust and the rectangular bread loaf into the shallow rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick up the rectangular bread loaf and the rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Pick the bread with golden crust and the bread with golden crust and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the bread with golden crust and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface with two arms, place in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop them into the breadbasket with woven pattern.",
+    "Use one arm to grab the rectangular bread loaf and the rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and put them in the shallow rectangular breadbasket.",
+    "Place the bread loaf with soft surface and the bread loaf with soft surface into the shallow rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread with golden crust and the rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Pick the rectangular bread loaf and the bread loaf with soft surface and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the rectangular bread loaf and the bread loaf with soft surface and place in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and drop them into the woven shallow breadbasket.",
+    "Use one arm to grab the bread with golden crust and the bread loaf with soft surface, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and put them in the breadbasket with woven pattern.",
+    "Place the bread with golden crust and the rectangular bread loaf into the woven shallow breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread loaf with soft surface and the rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Pick the bread with golden crust and the bread loaf with soft surface and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf with soft surface and place in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust and the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Place the bread loaf with soft surface and the rectangular bread loaf into the shallow rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread with golden crust, then place them in the woven shallow breadbasket.",
+    "Pick the bread with golden crust and the bread loaf with soft surface and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and drop it into the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and drop them into the breadbasket with woven pattern.",
+    "Use one arm to grab the bread with golden crust and the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and put them in the woven shallow breadbasket.",
+    "Place the rectangular bread loaf and the rectangular bread loaf into the woven shallow breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread with golden crust and the bread with golden crust, then place them in the shallow rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and the bread loaf with soft surface and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf with soft surface and place in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface with two arms, place in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop them into the woven shallow breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the bread loaf with soft surface, drop in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and put them in the shallow rectangular breadbasket.",
+    "Place the bread loaf with soft surface and the rectangular bread loaf into the shallow rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread with golden crust and the bread loaf with soft surface, then place them in the woven shallow breadbasket.",
+    "Pick the bread with golden crust and the rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf with soft surface and place in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the bread with golden crust with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the bread loaf with soft surface, drop in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the bread with golden crust and put them in the breadbasket with woven pattern.",
+    "Place the rectangular bread loaf and the bread with golden crust into the woven shallow breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread loaf with soft surface, then place them in the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and the bread loaf with soft surface and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf with soft surface and place in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and drop them into the shallow rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode10.json b/place_bread_basket/demo_clean/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..f46971a1bacdcff2de149a0c665631e37c7c8db3
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bread loaf with bumpy surface and the golden brown bread for the the oval-shaped breadbasket",
+    "Pick up both the light golden brown bread and the golden brown bread, then place them in the beige basket with white grid design.",
+    "Grab both the bread block with light patches and the sponge-textured golden bread with the dual arm and place in the medium breadbasket with perforated sides.",
+    "Place the doughy and soft bread and the sponge-textured golden bread in the medium breadbasket with perforated sides using the dual arm",
+    "Simultaneously grab the cuboid bread and the light brown porous bread, drop in the beige basket with white grid design.",
+    "Grab the bread loaf with bumpy surface and the medium bread with rounded sides quickly and drop them into the beige plastic breadbasket.",
+    "Use the dual arm to place the doughy and soft bread and the soft square bread into the smooth textured breadbasket.",
+    "Shift the soft bread and the fluffy baked bread into the beige breadbasket",
+    "Put the bread block with light patches and the square-shaped bread piece into the oval-shaped breadbasket using two arms.",
+    "Grab two breads the light golden brown bread and the soft square bread and place in the beige plastic breadbasket.",
+    "Simultaneously grab the cuboid bread and the light brown porous bread using the dual arm, then drop them in the basket for bread beige plastic.",
+    "Move the soft bread and the square-shaped bread piece to the beige plastic breadbasket",
+    "Grab both the golden bread and the rounded square loaf, drop into the medium breadbasket with perforated sides.",
+    "Use two arms and set the bread loaf with uneven edges, the square-shaped bread piece in the oval perforated breadbasket white edges.",
+    "Lift the bread block with light patches and the medium bread with rounded sides at once with the dual arm, then set them in the beige breadbasket.",
+    "Take the cuboid bread and the medium bread with rounded sides to the medium oval basket for bread",
+    "Move the hand-sized bread block and the square-shaped bread piece at once into the beige plastic breadbasket.",
+    "Simultaneously use the dual arm to drop the soft bread and the soft square bread in the beige breadbasket.",
+    "Use both arms to move the cuboid bread, the fluffy baked bread to the oval perforated breadbasket white edges.",
+    "Take the golden bread and the bread with soft texture, place them inside the beige plastic breadbasket.",
+    "Shift the hand-sized bread block and the bread with rounded edges together to the medium oval basket for bread.",
+    "Pick the golden bread loaf and the golden baked bread and set them in the white oval breadbasket.",
+    "Take the soft bread and the golden brown bread then place in the smooth textured breadbasket.",
+    "Lift the cuboid bread and the sponge-textured golden bread with two arms, put in the medium oval basket for bread.",
+    "Take the golden bread loaf and the golden brown bread together and place them into the basket for bread beige plastic.",
+    "Pick the doughy and soft bread and the square-shaped bread piece, place them in the smooth textured breadbasket.",
+    "Pick the square-shaped bread and the fluffy baked bread for the the oval perforated breadbasket white edges",
+    "Pick up both the golden bread loaf and the sponge-textured golden bread, then place them in the beige basket with white grid design.",
+    "Grab both the soft bread and the rounded square loaf with the dual arm and place in the beige basket with white grid design.",
+    "Place the hand-sized bread block and the bread with soft texture in the medium plastic breadbasket oval shape using the dual arm",
+    "Simultaneously grab the bread block with light patches and the sponge-textured golden bread, drop in the beige basket with white grid design.",
+    "Grab the doughy and soft bread and the golden brown bread quickly and drop them into the oval-shaped breadbasket.",
+    "Use the dual arm to place the golden bread loaf and the golden brown bread into the basket for bread beige plastic.",
+    "Shift the golden bread and the fluffy baked bread into the white oval breadbasket",
+    "Put the square-shaped bread and the soft square bread into the medium plastic breadbasket oval shape using two arms.",
+    "Grab two breads the square-shaped bread and the golden baked bread and place in the beige breadbasket.",
+    "Simultaneously grab the bread loaf with uneven edges and the bread with soft texture using the dual arm, then drop them in the basket for carrying bread beige.",
+    "Move the square-shaped bread and the square-shaped bread piece to the basket for carrying bread beige",
+    "Grab both the doughy and soft bread and the golden brown bread, drop into the oval-shaped breadbasket.",
+    "Use two arms and set the hand-sized bread block, the bread with soft texture in the basket for carrying bread beige.",
+    "Lift the golden bread and the medium bread with rounded sides at once with the dual arm, then set them in the beige breadbasket.",
+    "Take the golden bread loaf and the rounded square loaf to the beige breadbasket",
+    "Move the hand-sized bread block and the bread with soft texture at once into the oval perforated breadbasket white edges.",
+    "Simultaneously use the dual arm to drop the bread block with light patches and the fluffy baked bread in the basket for carrying bread beige.",
+    "Use both arms to move the golden bread, the golden brown bread to the medium oval basket for bread.",
+    "Take the bread loaf with uneven edges and the bread with soft texture, place them inside the oval perforated breadbasket white edges.",
+    "Shift the cuboid bread and the medium bread with rounded sides together to the smooth textured breadbasket.",
+    "Pick the light golden brown bread and the fluffy baked bread and set them in the beige breadbasket.",
+    "Take the doughy and soft bread and the bread with soft texture then place in the medium breadbasket with perforated sides.",
+    "Lift the golden bread loaf and the bread with rounded edges with two arms, put in the beige plastic breadbasket.",
+    "Take the bread block with light patches and the square-shaped bread piece together and place them into the medium breadbasket with perforated sides.",
+    "Pick the bread loaf with bumpy surface and the light brown porous bread, place them in the beige basket with white grid design.",
+    "Pick the light golden brown bread and the soft square bread for the the beige plastic breadbasket",
+    "Pick up both the cuboid bread and the golden brown bread, then place them in the medium oval basket for bread.",
+    "Grab both the bread loaf with bumpy surface and the sponge-textured golden bread with the dual arm and place in the medium plastic breadbasket oval shape.",
+    "Place the cuboid bread and the medium bread with rounded sides in the medium oval basket for bread using the dual arm",
+    "Simultaneously grab the bread loaf with uneven edges and the square-shaped bread piece, drop in the medium breadbasket with perforated sides.",
+    "Grab the golden bread and the square-shaped bread piece quickly and drop them into the beige plastic breadbasket.",
+    "Use the dual arm to place the light golden brown bread and the soft square bread into the basket for bread beige plastic.",
+    "Shift the doughy and soft bread and the medium-sized bread piece into the basket for carrying bread beige",
+    "Put the hand-sized bread block and the sponge-textured golden bread into the basket for bread beige plastic using two arms.",
+    "Grab two breads the bread with rough texture and the bread with rounded edges and place in the smooth textured breadbasket.",
+    "Simultaneously grab the bread loaf with bumpy surface and the golden brown bread using the dual arm, then drop them in the basket for carrying bread beige.",
+    "Move the light golden brown bread and the rounded square loaf to the white oval breadbasket",
+    "Grab both the square-shaped bread and the light brown porous bread, drop into the smooth textured breadbasket.",
+    "Use two arms and set the light golden brown bread, the bread with soft texture in the basket for carrying bread beige.",
+    "Lift the cuboid bread and the golden baked bread at once with the dual arm, then set them in the medium breadbasket with perforated sides.",
+    "Take the soft bread and the medium-sized bread piece to the oval perforated breadbasket white edges",
+    "Move the doughy and soft bread and the bread with soft texture at once into the smooth textured breadbasket.",
+    "Simultaneously use the dual arm to drop the bread block with light patches and the light brown porous bread in the beige plastic breadbasket.",
+    "Use both arms to move the soft bread, the rounded square loaf to the medium oval basket for bread.",
+    "Take the bread with rough texture and the rounded square loaf, place them inside the beige plastic breadbasket.",
+    "Shift the bread with rough texture and the golden brown bread together to the white oval breadbasket.",
+    "Pick the golden bread loaf and the golden brown bread and set them in the basket for carrying bread beige.",
+    "Take the bread with rough texture and the square-shaped bread piece then place in the beige basket with white grid design.",
+    "Lift the golden bread loaf and the rounded square loaf with two arms, put in the oval perforated breadbasket white edges.",
+    "Take the bread loaf with uneven edges and the sponge-textured golden bread together and place them into the basket for carrying bread beige.",
+    "Pick the square-shaped bread and the fluffy baked bread, place them in the beige plastic breadbasket.",
+    "Pick the bread with rough texture and the medium bread with rounded sides for the the basket for carrying bread beige",
+    "Pick up both the golden bread loaf and the bread with soft texture, then place them in the oval perforated breadbasket white edges.",
+    "Grab both the bread with rough texture and the fluffy baked bread with the dual arm and place in the medium oval basket for bread.",
+    "Place the hand-sized bread block and the bread with soft texture in the basket for carrying bread beige using the dual arm",
+    "Simultaneously grab the bread with rough texture and the soft square bread, drop in the medium oval basket for bread.",
+    "Grab the golden bread and the rounded square loaf quickly and drop them into the medium oval basket for bread.",
+    "Use the dual arm to place the bread block with light patches and the golden baked bread into the smooth textured breadbasket.",
+    "Shift the hand-sized bread block and the soft square bread into the oval perforated breadbasket white edges",
+    "Put the hand-sized bread block and the golden brown bread into the medium plastic breadbasket oval shape using two arms.",
+    "Grab two breads the bread block with light patches and the medium bread with rounded sides and place in the basket for carrying bread beige.",
+    "Simultaneously grab the soft bread and the fluffy baked bread using the dual arm, then drop them in the smooth textured breadbasket.",
+    "Move the bread loaf with bumpy surface and the square-shaped bread piece to the medium oval basket for bread",
+    "Grab both the bread block with light patches and the soft square bread, drop into the beige basket with white grid design.",
+    "Use two arms and set the hand-sized bread block, the golden baked bread in the oval-shaped breadbasket.",
+    "Lift the golden bread and the golden baked bread at once with the dual arm, then set them in the beige breadbasket.",
+    "Take the doughy and soft bread and the square-shaped bread piece to the beige breadbasket",
+    "Move the doughy and soft bread and the golden brown bread at once into the oval perforated breadbasket white edges.",
+    "Simultaneously use the dual arm to drop the cuboid bread and the light brown porous bread in the beige basket with white grid design.",
+    "Use both arms to move the square-shaped bread, the light brown porous bread to the oval perforated breadbasket white edges.",
+    "Take the bread with rough texture and the bread with soft texture, place them inside the beige basket with white grid design.",
+    "Shift the bread loaf with bumpy surface and the medium-sized bread piece together to the medium oval basket for bread.",
+    "Pick the doughy and soft bread and the rounded square loaf and set them in the medium oval basket for bread."
+  ],
+  "unseen": [
+    "Use one arm to grab the bread loaf with soft surface and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the bread with golden crust and the square bread with light spots, then place them in the white basket with beige bottom.",
+    "Pick the bread loaf with soft surface and the soft bread with golden edges and place them in the breadbasket with smooth bottom grid sides.",
+    "Place the bread loaf with soft surface and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the bread with golden crust and the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the rectangular bread loaf and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Pick the bread loaf with soft surface and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Place the bread loaf with soft surface and the square bread with light spots into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the rectangular bread loaf and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread loaf with soft surface and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the bread with golden crust and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface and the square bread with light spots into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the bread loaf with soft surface and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread loaf with soft surface and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the rectangular bread loaf and the soft bread with golden edges, then place them in the breadbasket with smooth bottom grid sides.",
+    "Pick the bread with golden crust and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Place the bread loaf with soft surface and the spongy golden brown bread into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread loaf with soft surface and the square bread with light spots, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the bread with golden crust and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Pick the bread loaf with soft surface and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface and the square bread with light spots into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the bread with golden crust and the spongy golden brown bread and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread with golden crust and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and the square bread with light spots and place them in the white basket with beige bottom.",
+    "Place the bread with golden crust and the square bread with light spots into the white basket with beige bottom using the dual arm",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the bread with golden crust and the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread loaf with soft surface and the square bread with light spots, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the soft bread with golden edges with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Pick the bread loaf with soft surface and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Place the bread with golden crust and the square bread with light spots into the white basket with beige bottom using the dual arm",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the rectangular bread loaf and the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread with golden crust and the spongy golden brown bread, drop in the white basket with beige bottom.",
+    "Grab the bread with golden crust and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the rectangular bread loaf and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and the soft bread with golden edges and place them in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface and the soft bread with golden edges into the white basket with beige bottom using the dual arm",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the bread with golden crust and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread with golden crust and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the rectangular bread loaf and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Pick the rectangular bread loaf and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface and the spongy golden brown bread into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the rectangular bread loaf and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the rectangular bread loaf and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the rectangular bread loaf and the square bread with light spots, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the square bread with light spots, then place them in the breadbasket with hollowed white walls.",
+    "Pick the bread loaf with soft surface and the soft bread with golden edges and place them in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust and the soft bread with golden edges into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the bread with golden crust and the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread with golden crust and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the rectangular bread loaf and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Place the rectangular bread loaf and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the rectangular bread loaf and the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread loaf with soft surface and the square bread with light spots, drop in the white basket with beige bottom."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode11.json b/place_bread_basket/demo_clean/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddd5fbee925a5381fc0e3d1535a8ff2bb3a8498f
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the medium-sized bread piece to the breadbasket with rounded edges using one arm.",
+    "Pick up the golden brown bread and put it in the breadbasket with wicker weave pattern.",
+    "Pick the medium-sized bread piece and put it into the light brown basket for bread.",
+    "Lift the fluffy baked bread and set it in the light brown wicker breadbasket.",
+    "Put the bread with soft texture into the smooth textured brown breadbasket using an arm.",
+    "Drop the medium bread with rounded sides into the brown breadbasket with rounded corners",
+    "Grab the golden brown bread with one hand and set it in the breadbasket for holding bread.",
+    "Use the right arm to grab the medium bread with rounded sides for the breadbasket with smooth woven texture",
+    "Grab the fluffy baked bread with an arm and set in the medium woven breadbasket.",
+    "Grab the rounded square loaf for the breadbasket with wicker weave pattern with the right arm",
+    "Grab the sponge-textured golden bread, drop it into the medium-sized rectangular breadbasket.",
+    "Pick up the golden baked bread and drop it in the light brown wicker breadbasket.",
+    "Put the fluffy baked bread into the brown breadbasket with rounded corners after grabbing it.",
+    "Lift the square-shaped bread piece and transfer to the light brown basket for bread.",
+    "Pick the medium bread with rounded sides and move it to the brown breadbasket with rounded corners.",
+    "Use the right arm to grab the medium-sized bread piece and drop it inside the light brown wicker breadbasket.",
+    "Grab the square-shaped bread piece with the right arm and drop it in the light brown basket for bread.",
+    "Move the bread with rounded edges to the breadbasket with wicker weave pattern using one arm.",
+    "Pick up the golden baked bread and put it in the breadbasket with wicker weave pattern.",
+    "Pick the soft square bread and put it into the breadbasket with rounded edges.",
+    "Lift the square-shaped bread piece and set it in the light brown wicker breadbasket.",
+    "Put the golden baked bread into the breadbasket with wicker weave pattern using an arm.",
+    "Drop the medium bread with rounded sides into the woven rectangular breadbasket",
+    "Grab the light brown porous bread with one hand and set it in the medium woven breadbasket.",
+    "Use the right arm to grab the square-shaped bread piece for the light brown basket for bread",
+    "Grab the soft square bread with an arm and set in the light brown wicker breadbasket.",
+    "Grab the square-shaped bread piece for the brown breadbasket with the right arm",
+    "Grab the medium bread with rounded sides, drop it into the breadbasket with rounded edges.",
+    "Pick up the bread with soft texture and drop it in the breadbasket for holding bread.",
+    "Put the rounded square loaf into the light brown wicker breadbasket after grabbing it.",
+    "Lift the soft square bread and transfer to the woven rectangular breadbasket.",
+    "Pick the light brown porous bread and move it to the medium woven breadbasket.",
+    "Use the right arm to grab the bread with rounded edges and drop it inside the smooth textured brown breadbasket.",
+    "Grab the medium bread with rounded sides with the right arm and drop it in the light brown basket for bread.",
+    "Move the bread with rounded edges to the light brown wicker breadbasket using one arm.",
+    "Pick up the sponge-textured golden bread and put it in the woven rectangular breadbasket.",
+    "Pick the golden baked bread and put it into the woven rectangular breadbasket.",
+    "Lift the fluffy baked bread and set it in the breadbasket with rounded edges.",
+    "Put the light brown porous bread into the light brown wicker breadbasket using an arm.",
+    "Drop the square-shaped bread piece into the breadbasket with smooth woven texture",
+    "Grab the bread with soft texture with one hand and set it in the woven rectangular breadbasket.",
+    "Use the right arm to grab the sponge-textured golden bread for the breadbasket with rounded edges",
+    "Grab the rounded square loaf with an arm and set in the breadbasket with rounded edges.",
+    "Grab the rounded square loaf for the light brown basket for bread with the right arm",
+    "Grab the bread with rounded edges, drop it into the breadbasket with rounded edges.",
+    "Pick up the rounded square loaf and drop it in the smooth textured brown breadbasket.",
+    "Put the golden baked bread into the breadbasket for holding bread after grabbing it.",
+    "Lift the golden baked bread and transfer to the brown breadbasket.",
+    "Pick the golden brown bread and move it to the smooth textured brown breadbasket.",
+    "Use the right arm to grab the light brown porous bread and drop it inside the breadbasket with rounded edges.",
+    "Grab the bread with soft texture with the right arm and drop it in the breadbasket with smooth woven texture.",
+    "Move the bread with rounded edges to the brown breadbasket using one arm.",
+    "Pick up the golden baked bread and put it in the breadbasket for holding bread.",
+    "Pick the soft square bread and put it into the breadbasket with rounded edges.",
+    "Lift the golden baked bread and set it in the woven rectangular breadbasket.",
+    "Put the soft square bread into the medium woven breadbasket using an arm.",
+    "Drop the medium-sized bread piece into the medium-sized rectangular breadbasket",
+    "Grab the square-shaped bread piece with one hand and set it in the smooth textured brown breadbasket.",
+    "Use the right arm to grab the golden baked bread for the medium woven breadbasket",
+    "Grab the medium-sized bread piece with an arm and set in the medium-sized rectangular breadbasket.",
+    "Grab the light brown porous bread for the breadbasket with smooth woven texture with the right arm",
+    "Grab the fluffy baked bread, drop it into the light brown basket for bread.",
+    "Pick up the square-shaped bread piece and drop it in the smooth textured brown breadbasket.",
+    "Put the soft square bread into the breadbasket with smooth woven texture after grabbing it.",
+    "Lift the medium bread with rounded sides and transfer to the breadbasket with rounded edges.",
+    "Pick the medium-sized bread piece and move it to the light brown basket for bread.",
+    "Use the right arm to grab the medium bread with rounded sides and drop it inside the light brown wicker breadbasket.",
+    "Grab the soft square bread with the right arm and drop it in the smooth textured brown breadbasket.",
+    "Move the bread with soft texture to the medium-sized rectangular breadbasket using one arm.",
+    "Pick up the golden baked bread and put it in the light brown wicker breadbasket.",
+    "Pick the soft square bread and put it into the light brown basket for bread.",
+    "Lift the soft square bread and set it in the breadbasket with wicker weave pattern.",
+    "Put the medium-sized bread piece into the brown breadbasket with rounded corners using an arm.",
+    "Drop the square-shaped bread piece into the light brown basket for bread",
+    "Grab the medium-sized bread piece with one hand and set it in the medium-sized rectangular breadbasket.",
+    "Use the right arm to grab the light brown porous bread for the medium woven breadbasket",
+    "Grab the bread with rounded edges with an arm and set in the breadbasket with wicker weave pattern.",
+    "Grab the light brown porous bread for the medium-sized rectangular breadbasket with the right arm",
+    "Grab the bread with soft texture, drop it into the breadbasket with smooth woven texture.",
+    "Pick up the rounded square loaf and drop it in the brown breadbasket.",
+    "Put the medium bread with rounded sides into the breadbasket with rounded edges after grabbing it.",
+    "Lift the light brown porous bread and transfer to the woven rectangular breadbasket.",
+    "Pick the bread with soft texture and move it to the breadbasket with rounded edges.",
+    "Use the right arm to grab the rounded square loaf and drop it inside the brown breadbasket.",
+    "Grab the golden brown bread with the right arm and drop it in the smooth textured brown breadbasket.",
+    "Move the golden brown bread to the medium woven breadbasket using one arm.",
+    "Pick up the medium bread with rounded sides and put it in the woven rectangular breadbasket.",
+    "Pick the sponge-textured golden bread and put it into the brown breadbasket with rounded corners.",
+    "Lift the golden brown bread and set it in the breadbasket with smooth woven texture.",
+    "Put the fluffy baked bread into the medium woven breadbasket using an arm.",
+    "Drop the square-shaped bread piece into the medium-sized rectangular breadbasket",
+    "Grab the fluffy baked bread with one hand and set it in the breadbasket with wicker weave pattern.",
+    "Use the right arm to grab the light brown porous bread for the woven rectangular breadbasket",
+    "Grab the medium-sized bread piece with an arm and set in the breadbasket with rounded edges.",
+    "Grab the golden brown bread for the brown breadbasket with rounded corners with the right arm",
+    "Grab the rounded square loaf, drop it into the light brown basket for bread.",
+    "Pick up the medium-sized bread piece and drop it in the breadbasket with smooth woven texture.",
+    "Put the light brown porous bread into the breadbasket with smooth woven texture after grabbing it.",
+    "Lift the square-shaped bread piece and transfer to the light brown wicker breadbasket.",
+    "Pick the bread with soft texture and move it to the brown breadbasket with rounded corners."
+  ],
+  "unseen": [
+    "Pick the square bread with light spots and drop it in the rectangular breadbasket",
+    "Grab the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Grab the square bread with light spots and drop it into the rectangular light brown breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the rectangular breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the medium light brown breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the rectangular breadbasket.",
+    "Pick the square bread with light spots and place it in the medium light brown breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the rectangular light brown breadbasket.",
+    "Grab the soft bread with golden edges and put it in the medium light brown breadbasket.",
+    "Place the spongy golden brown bread into the medium light brown breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the rectangular light brown breadbasket",
+    "Grab the spongy golden brown bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the square bread with light spots and drop it into the rectangular light brown breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the medium light brown breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the rectangular breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the medium light brown breadbasket.",
+    "Pick the square bread with light spots and place it in the rectangular breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the rectangular breadbasket.",
+    "Place the square bread with light spots into the medium light brown breadbasket using the right arm",
+    "Pick the soft bread with golden edges and drop it in the medium light brown breadbasket",
+    "Grab the soft bread with golden edges and drop it into the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the rectangular breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the rectangular breadbasket.",
+    "Pick the soft bread with golden edges and place it in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the rectangular light brown breadbasket.",
+    "Grab the square bread with light spots and put it in the rectangular breadbasket.",
+    "Place the square bread with light spots into the medium light brown breadbasket using the right arm",
+    "Pick the spongy golden brown bread and drop it in the rectangular breadbasket",
+    "Grab the square bread with light spots and drop it into the medium light brown breadbasket.",
+    "Grab the square bread with light spots and drop it into the rectangular breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the rectangular light brown breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the rectangular light brown breadbasket.",
+    "Pick the soft bread with golden edges and place it in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and put it in the rectangular light brown breadbasket.",
+    "Place the spongy golden brown bread into the medium light brown breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the rectangular breadbasket",
+    "Grab the spongy golden brown bread and drop it into the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the rectangular light brown breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the rectangular breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the rectangular light brown breadbasket.",
+    "Pick the soft bread with golden edges and place it in the rectangular breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the medium light brown breadbasket.",
+    "Place the square bread with light spots into the rectangular breadbasket using the right arm",
+    "Pick the spongy golden brown bread and drop it in the rectangular breadbasket",
+    "Grab the soft bread with golden edges and drop it into the rectangular light brown breadbasket.",
+    "Grab the square bread with light spots and drop it into the medium light brown breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the rectangular breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the medium light brown breadbasket.",
+    "Pick the spongy golden brown bread and place it in the medium light brown breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the rectangular light brown breadbasket.",
+    "Grab the soft bread with golden edges and put it in the medium light brown breadbasket.",
+    "Place the soft bread with golden edges into the rectangular breadbasket using the right arm",
+    "Pick the soft bread with golden edges and drop it in the rectangular light brown breadbasket",
+    "Grab the soft bread with golden edges and drop it into the rectangular breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the rectangular breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the rectangular breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the rectangular breadbasket.",
+    "Pick the soft bread with golden edges and place it in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the rectangular breadbasket.",
+    "Grab the square bread with light spots and put it in the rectangular light brown breadbasket.",
+    "Place the spongy golden brown bread into the rectangular breadbasket using the right arm",
+    "Pick the spongy golden brown bread and drop it in the rectangular light brown breadbasket",
+    "Grab the spongy golden brown bread and drop it into the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium light brown breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the rectangular breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the rectangular light brown breadbasket.",
+    "Pick the soft bread with golden edges and place it in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread and put it in the rectangular light brown breadbasket.",
+    "Place the square bread with light spots into the rectangular light brown breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the medium light brown breadbasket",
+    "Grab the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Grab the square bread with light spots and drop it into the rectangular light brown breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the rectangular breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the medium light brown breadbasket.",
+    "Pick the square bread with light spots and place it in the rectangular breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the medium light brown breadbasket.",
+    "Place the spongy golden brown bread into the medium light brown breadbasket using the right arm",
+    "Pick the soft bread with golden edges and drop it in the rectangular light brown breadbasket",
+    "Grab the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the medium light brown breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the rectangular light brown breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the rectangular light brown breadbasket.",
+    "Pick the soft bread with golden edges and place it in the rectangular breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the rectangular breadbasket.",
+    "Grab the spongy golden brown bread and put it in the medium light brown breadbasket.",
+    "Place the square bread with light spots into the medium light brown breadbasket using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode12.json b/place_bread_basket/demo_clean/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceab238341f83f986c14fa68462e5d00348b7858
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the brown bread loaf and the bread with split top for the the oval basket for bread",
+    "Grab the square loaf of bread and the hand-sized oval loaf quickly and drop them into the synthetic material breadbasket.",
+    "Grab both the bread loaf with square shape and the brown loaf with the right arm and place in the medium oval breadbasket.",
+    "Simultaneously use the right arm to drop the brown bread loaf and the brown loaf in the beige basket for holding bread.",
+    "Simultaneously grab the soft golden baked bread and the small loaf with curved top, drop in the woven plastic breadbasket.",
+    "Simultaneously grab the slice-shaped bread and the soft brown bread using the right arm, then drop them in the medium oval breadbasket.",
+    "Move the square loaf of bread and the small loaf with curved top at once into the two-hand-sized breadbasket.",
+    "Lift the golden crusted bread slice and the smooth loaf with rounded edges with two arms, put in the two-hand-sized breadbasket.",
+    "Shift the bread with rounded corners and the small golden brown bread into the breadbasket for small food items",
+    "Put the bread loaf with square shape and the light brown loaf with smooth sides into the two-hand-sized breadbasket using two arms.",
+    "Grab both the golden brown loaf-shaped bread and the light brown loaf with smooth sides, drop into the two-hand-sized breadbasket.",
+    "Shift the bread with rounded corners and the small loaf with curved top together to the basket with light brown weaving.",
+    "Lift the golden brown loaf-shaped bread and the bread with split top at once with the right arm, then set them in the oval breadbasket.",
+    "Use the right arm to place the golden crusted bread slice and the bread with warm golden color into the oval breadbasket.",
+    "Place the slice-shaped bread and the bread with warm golden color in the two-hand-sized breadbasket using the right arm",
+    "Pick up both the golden bread and the small loaf with curved top, then place them in the oval breadbasket.",
+    "Take the rectangular bread soft inside and the light brown loaf with smooth sides together and place them into the beige basket for holding bread.",
+    "Pick the golden crusted bread slice and the bread with split top, place them in the oval basket for bread.",
+    "Use two arms and set the soft golden baked bread, the bread with split top in the synthetic material breadbasket.",
+    "Pick the square loaf of bread and the bread with golden-brown crust and set them in the light brown breadbasket.",
+    "Take the bread with firm crust edges and the bread with split top to the oval basket for bread",
+    "Move the bread with golden surface color and the soft brown bread to the breadbasket for small food items",
+    "Take the golden brown loaf-shaped bread and the bread with warm golden color then place in the oval breadbasket.",
+    "Grab two breads the bread with golden surface color and the small loaf with curved top and place in the light brown breadbasket.",
+    "Use both arms to move the slice-shaped bread, the small golden brown bread to the oval breadbasket.",
+    "Take the bread with golden surface color and the light brown loaf with smooth sides, place them inside the breadbasket for small food items.",
+    "Pick the bread with rounded corners and the bread with split top for the the oval breadbasket",
+    "Grab the slice-shaped bread and the soft brown bread quickly and drop them into the medium oval breadbasket.",
+    "Grab both the golden crusted bread slice and the light brown bread with ridges with the right arm and place in the oval basket for bread.",
+    "Simultaneously use the right arm to drop the bread with firm crust edges and the small golden brown bread in the breadbasket for small food items.",
+    "Simultaneously grab the bread with rounded corners and the light brown loaf with smooth sides, drop in the breadbasket with curved base.",
+    "Simultaneously grab the bread with firm crust edges and the small loaf with curved top using the right arm, then drop them in the smooth-textured breadbasket.",
+    "Move the rectangular bread soft inside and the hand-sized oval loaf at once into the smooth-textured breadbasket.",
+    "Lift the bread loaf with square shape and the hand-sized oval loaf with two arms, put in the light brown breadbasket.",
+    "Shift the golden bread and the bread with warm golden color into the breadbasket for small food items",
+    "Put the bread with rounded corners and the bread with golden-brown crust into the smooth-textured breadbasket using two arms.",
+    "Grab both the golden crusted bread slice and the light brown bread with ridges, drop into the two-hand-sized breadbasket.",
+    "Shift the bread with golden surface color and the small golden brown bread together to the basket with light brown weaving.",
+    "Lift the brown bread loaf and the brown loaf at once with the right arm, then set them in the two-hand-sized breadbasket.",
+    "Use the right arm to place the slice-shaped bread and the bread with golden-brown crust into the breadbasket with curved base.",
+    "Place the bread with rounded corners and the bread with warm golden color in the breadbasket for small food items using the right arm",
+    "Pick up both the square loaf of bread and the bread with split top, then place them in the breadbasket with curved base.",
+    "Take the golden crusted bread slice and the brown loaf together and place them into the oval basket for bread.",
+    "Pick the rectangular bread soft inside and the soft brown bread, place them in the two-hand-sized breadbasket.",
+    "Use two arms and set the golden crusted bread slice, the brown loaf in the oval breadbasket.",
+    "Pick the rectangular bread soft inside and the golden bread loaf and set them in the synthetic material breadbasket.",
+    "Take the rectangular bread soft inside and the small loaf with curved top to the beige basket for holding bread",
+    "Move the bread with firm crust edges and the light brown loaf with smooth sides to the oval breadbasket",
+    "Take the slice-shaped bread and the small loaf with curved top then place in the synthetic material breadbasket.",
+    "Grab two breads the bread with rounded corners and the small loaf with curved top and place in the light brown breadbasket.",
+    "Use both arms to move the bread with firm crust edges, the brown loaf to the smooth-textured breadbasket.",
+    "Take the golden brown loaf-shaped bread and the light brown bread with ridges, place them inside the oval breadbasket.",
+    "Pick the golden bread and the bread with golden-brown crust for the the synthetic material breadbasket",
+    "Grab the bread with firm crust edges and the golden bread loaf quickly and drop them into the oval breadbasket.",
+    "Grab both the brown bread loaf and the soft brown bread with the right arm and place in the breadbasket with curved base.",
+    "Simultaneously use the right arm to drop the golden brown loaf-shaped bread and the small loaf with curved top in the woven plastic breadbasket.",
+    "Simultaneously grab the bread with firm crust edges and the bread with split top, drop in the breadbasket with curved base.",
+    "Simultaneously grab the soft golden baked bread and the small loaf with curved top using the right arm, then drop them in the synthetic material breadbasket.",
+    "Move the soft golden baked bread and the light brown loaf with smooth sides at once into the synthetic material breadbasket.",
+    "Lift the bread with golden surface color and the light brown loaf with smooth sides with two arms, put in the two-hand-sized breadbasket.",
+    "Shift the bread with firm crust edges and the hand-sized oval loaf into the two-hand-sized breadbasket",
+    "Put the bread with rounded corners and the small loaf with curved top into the woven plastic breadbasket using two arms.",
+    "Grab both the rectangular bread soft inside and the bread with golden-brown crust, drop into the two-hand-sized breadbasket.",
+    "Shift the slice-shaped bread and the brown loaf together to the oval basket for bread.",
+    "Lift the golden crusted bread slice and the bread with warm golden color at once with the right arm, then set them in the smooth-textured breadbasket.",
+    "Use the right arm to place the square loaf of bread and the small loaf with curved top into the oval basket for bread.",
+    "Place the bread with firm crust edges and the light brown loaf with smooth sides in the oval breadbasket using the right arm",
+    "Pick up both the square loaf of bread and the light brown loaf with smooth sides, then place them in the basket with light brown weaving.",
+    "Take the bread with firm crust edges and the light brown loaf with smooth sides together and place them into the beige basket for holding bread.",
+    "Pick the bread loaf with square shape and the brown loaf, place them in the woven plastic breadbasket.",
+    "Use two arms and set the golden crusted bread slice, the small golden brown bread in the two-hand-sized breadbasket.",
+    "Pick the bread with firm crust edges and the bread with golden-brown crust and set them in the woven plastic breadbasket.",
+    "Take the brown bread loaf and the small golden brown bread to the oval basket for bread",
+    "Move the brown bread loaf and the soft brown bread to the basket with light brown weaving",
+    "Take the golden bread and the small golden brown bread then place in the two-hand-sized breadbasket.",
+    "Grab two breads the bread with rounded corners and the light brown bread with ridges and place in the breadbasket for small food items.",
+    "Use both arms to move the golden brown loaf-shaped bread, the small loaf with curved top to the beige basket for holding bread.",
+    "Take the bread with golden surface color and the light brown bread with ridges, place them inside the medium oval breadbasket.",
+    "Pick the square loaf of bread and the bread with warm golden color for the the medium oval breadbasket",
+    "Grab the rectangular bread soft inside and the bread with golden-brown crust quickly and drop them into the oval basket for bread.",
+    "Grab both the soft golden baked bread and the small golden brown bread with the right arm and place in the oval breadbasket.",
+    "Simultaneously use the right arm to drop the rectangular bread soft inside and the bread with warm golden color in the oval breadbasket.",
+    "Simultaneously grab the soft golden baked bread and the brown loaf, drop in the smooth-textured breadbasket.",
+    "Simultaneously grab the bread loaf with square shape and the light brown loaf with smooth sides using the right arm, then drop them in the breadbasket for small food items.",
+    "Move the golden bread and the bread with warm golden color at once into the breadbasket with curved base.",
+    "Lift the bread with firm crust edges and the smooth loaf with rounded edges with two arms, put in the medium oval breadbasket.",
+    "Shift the golden brown loaf-shaped bread and the small golden brown bread into the oval basket for bread",
+    "Put the square loaf of bread and the light brown bread with ridges into the two-hand-sized breadbasket using two arms.",
+    "Grab both the golden bread and the brown loaf, drop into the light brown breadbasket.",
+    "Shift the golden crusted bread slice and the bread with golden-brown crust together to the woven plastic breadbasket.",
+    "Lift the rectangular bread soft inside and the bread with golden-brown crust at once with the right arm, then set them in the smooth-textured breadbasket.",
+    "Use the right arm to place the bread loaf with square shape and the soft brown bread into the basket with light brown weaving.",
+    "Place the bread with firm crust edges and the light brown bread with ridges in the two-hand-sized breadbasket using the right arm",
+    "Pick up both the golden brown loaf-shaped bread and the smooth loaf with rounded edges, then place them in the woven plastic breadbasket.",
+    "Take the brown bread loaf and the soft brown bread together and place them into the basket with light brown weaving.",
+    "Pick the square loaf of bread and the bread with warm golden color, place them in the oval basket for bread.",
+    "Use two arms and set the golden brown loaf-shaped bread, the bread with golden-brown crust in the light brown breadbasket.",
+    "Pick the bread with golden surface color and the bread with split top and set them in the light brown breadbasket.",
+    "Take the soft golden baked bread and the bread with golden-brown crust to the woven plastic breadbasket",
+    "Move the soft golden baked bread and the small golden brown bread to the medium oval breadbasket"
+  ],
+  "unseen": [
+    "Use one arm to grab the soft rectangular bread loaf and the rounded oval bread, drop in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Place the bread loaf medium-sized and the oval-shaped soft bread into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and the oval-shaped soft bread and place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop it into the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the rounded oval bread, drop in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the medium-sized breadbasket.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick the bread loaf medium-sized and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and put them in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and the oval-shaped soft bread and place them in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop it into the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and drop them into the medium-sized breadbasket.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the small loaf-shaped bread and the oval-shaped soft bread, then place them in the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and the rounded oval bread and place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval-shaped soft bread, drop in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick the bread loaf medium-sized and the oval bread and place in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval bread and put them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the bread loaf medium-sized and the oval bread, then place them in the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval bread and place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop it into the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the rounded oval bread, drop in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Place the small loaf-shaped bread and the oval bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and put them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the oval bread, then place them in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval bread, drop in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the beige breadbasket.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick the bread loaf medium-sized and the rounded oval bread and place in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the oval-shaped soft bread, then place them in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop it into the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval bread, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the breadbasket with ridged texture.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the oval bread and place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and put them in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the oval bread, then place them in the medium-sized breadbasket.",
+    "Pick the bread loaf medium-sized and the rounded oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval bread, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the breadbasket with ridged texture.",
+    "Place the bread loaf medium-sized and the oval bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the oval bread and place in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the oval-shaped soft bread, then place them in the breadbasket with ridged texture.",
+    "Pick the soft rectangular bread loaf and the oval bread and place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval-shaped soft bread, drop in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop them into the beige breadbasket.",
+    "Place the bread loaf medium-sized and the oval bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick the bread loaf medium-sized and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the medium-sized breadbasket.",
+    "Pick the bread loaf medium-sized and the rounded oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval bread, drop in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the rounded oval bread, then place them in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the rounded oval bread, drop in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the oval-shaped soft bread and place in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the oval bread, then place them in the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the oval-shaped soft bread and place them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the medium-sized breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode13.json b/place_bread_basket/demo_clean/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a45a4da17130c82751881073f3346c0b521e05
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the soft doughy bread and the small golden brown bread in the light beige rectangular breadbasket using the dual arm",
+    "Pick the small golden baked bread and the hand-sized oval loaf for the the medium rectangular breadbasket",
+    "Simultaneously grab the soft doughy bread and the golden bread loaf, drop in the breadbasket for bread storage.",
+    "Take the soft doughy bread and the bread with split top, place them inside the breadbasket for bread storage.",
+    "Take the smooth crusty small bread and the bread with golden-brown crust together and place them into the rectangular breadbasket.",
+    "Pick the smooth crusty small bread and the small loaf with curved top, place them in the textured beige breadbasket.",
+    "Take the soft doughy bread and the brown loaf then place in the woven light beige breadbasket.",
+    "Pick up both the round bread with braided top and the brown loaf, then place them in the breadbasket for bread storage.",
+    "Move the bread with golden crust and the small loaf with curved top at once into the plastic mesh breadbasket.",
+    "Grab both the small bread and the small golden brown bread, drop into the breadbasket with textured sides.",
+    "Use the dual arm to place the soft doughy bread and the golden bread loaf into the woven light beige breadbasket.",
+    "Grab two breads the braided bread loaf and the soft brown bread and place in the beige breadbasket.",
+    "Put the smooth crusty small bread and the smooth loaf with rounded edges into the woven light beige breadbasket using two arms.",
+    "Move the soft golden bread and the bread with warm golden color to the beige breadbasket",
+    "Take the bread with golden crust and the soft brown bread to the plastic mesh breadbasket",
+    "Use two arms and set the braided bread loaf, the brown loaf in the light and textured breadbasket.",
+    "Shift the golden brown bread and the light brown loaf with smooth sides into the plastic breadbasket with mesh sides",
+    "Lift the soft doughy bread and the soft brown bread with two arms, put in the rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the round bread with crusty texture and the brown loaf in the beige breadbasket.",
+    "Grab the round bread with braided top and the smooth loaf with rounded edges quickly and drop them into the medium rectangular breadbasket.",
+    "Lift the soft doughy bread and the brown loaf at once with the dual arm, then set them in the beige breadbasket.",
+    "Pick the golden brown bread with braided design and the brown loaf and set them in the breadbasket for bread storage.",
+    "Simultaneously grab the small bread and the small golden brown bread using the dual arm, then drop them in the textured beige breadbasket.",
+    "Grab both the round bread with crusty texture and the small golden brown bread with the dual arm and place in the breadbasket with textured sides.",
+    "Shift the small golden baked bread and the hand-sized oval loaf together to the beige breadbasket.",
+    "Use both arms to move the soft doughy bread, the small loaf with curved top to the plastic mesh breadbasket.",
+    "Place the golden brown bread with braided design and the bread with golden-brown crust in the medium rectangular breadbasket using the dual arm",
+    "Pick the round bread with crusty texture and the light brown loaf with smooth sides for the the textured beige breadbasket",
+    "Simultaneously grab the round bread with braided top and the soft brown bread, drop in the light and textured breadbasket.",
+    "Take the golden bread loaf with soft inside and the bread with warm golden color, place them inside the plastic breadbasket with mesh sides.",
+    "Take the round bread with crusty texture and the hand-sized oval loaf together and place them into the beige breadbasket.",
+    "Pick the bread with golden crust and the smooth loaf with rounded edges, place them in the textured beige breadbasket.",
+    "Take the smooth crusty small bread and the soft brown bread then place in the beige breadbasket for holding bread.",
+    "Pick up both the round bread with crusty texture and the bread with golden-brown crust, then place them in the rectangular breadbasket.",
+    "Move the small golden baked bread and the soft brown bread at once into the breadbasket with textured sides.",
+    "Grab both the round bread with crusty texture and the smooth loaf with rounded edges, drop into the breadbasket with textured sides.",
+    "Use the dual arm to place the soft golden bread and the hand-sized oval loaf into the beige breadbasket for holding bread.",
+    "Grab two breads the braided bread loaf and the bread with split top and place in the light and textured breadbasket.",
+    "Put the round bread with braided top and the light brown bread with ridges into the rectangular breadbasket using two arms.",
+    "Move the golden brown bread with braided design and the hand-sized oval loaf to the plastic mesh breadbasket",
+    "Take the round bread with braided top and the brown loaf to the textured beige breadbasket",
+    "Use two arms and set the golden bread loaf with soft inside, the light brown loaf with smooth sides in the breadbasket with textured sides.",
+    "Shift the bread with golden crust and the brown loaf into the plastic mesh breadbasket",
+    "Lift the golden brown bread with braided design and the light brown loaf with smooth sides with two arms, put in the breadbasket with textured sides.",
+    "Simultaneously use the dual arm to drop the small golden baked bread and the golden bread loaf in the beige breadbasket for holding bread.",
+    "Grab the bread with golden crust and the brown loaf quickly and drop them into the light and textured breadbasket.",
+    "Lift the bread with golden crust and the golden bread loaf at once with the dual arm, then set them in the beige breadbasket for holding bread.",
+    "Pick the small golden baked bread and the brown loaf and set them in the beige breadbasket.",
+    "Simultaneously grab the small golden baked bread and the small loaf with curved top using the dual arm, then drop them in the light beige rectangular breadbasket.",
+    "Grab both the small golden baked bread and the small loaf with curved top with the dual arm and place in the medium rectangular breadbasket.",
+    "Shift the round bread with crusty texture and the golden bread loaf together to the plastic mesh breadbasket.",
+    "Use both arms to move the round bread with crusty texture, the brown loaf to the textured beige breadbasket.",
+    "Place the braided bread loaf and the bread with warm golden color in the beige breadbasket using the dual arm",
+    "Pick the braided bread loaf and the hand-sized oval loaf for the the plastic breadbasket with mesh sides",
+    "Simultaneously grab the soft doughy bread and the hand-sized oval loaf, drop in the breadbasket with textured sides.",
+    "Take the soft golden bread and the soft brown bread, place them inside the plastic mesh breadbasket.",
+    "Take the small bread and the soft brown bread together and place them into the plastic mesh breadbasket.",
+    "Pick the golden brown bread and the light brown bread with ridges, place them in the breadbasket for bread storage.",
+    "Take the soft doughy bread and the small loaf with curved top then place in the medium rectangular breadbasket.",
+    "Pick up both the round bread with braided top and the light brown bread with ridges, then place them in the light and textured breadbasket.",
+    "Move the small golden baked bread and the bread with golden-brown crust at once into the woven light beige breadbasket.",
+    "Grab both the bread with golden crust and the light brown loaf with smooth sides, drop into the breadbasket with textured sides.",
+    "Use the dual arm to place the small golden baked bread and the small loaf with curved top into the plastic mesh breadbasket.",
+    "Grab two breads the golden brown bread and the brown loaf and place in the breadbasket with textured sides.",
+    "Put the golden brown bread with braided design and the bread with split top into the rectangular breadbasket using two arms.",
+    "Move the soft golden bread and the light brown bread with ridges to the breadbasket with textured sides",
+    "Take the soft doughy bread and the bread with warm golden color to the rectangular breadbasket",
+    "Use two arms and set the smooth crusty small bread, the small golden brown bread in the breadbasket with textured sides.",
+    "Shift the soft golden bread and the hand-sized oval loaf into the light beige rectangular breadbasket",
+    "Lift the braided bread loaf and the smooth loaf with rounded edges with two arms, put in the woven light beige breadbasket.",
+    "Simultaneously use the dual arm to drop the golden brown bread and the brown loaf in the beige breadbasket for holding bread.",
+    "Grab the golden bread loaf with soft inside and the bread with warm golden color quickly and drop them into the plastic mesh breadbasket.",
+    "Lift the soft golden bread and the brown loaf at once with the dual arm, then set them in the plastic breadbasket with mesh sides.",
+    "Pick the round bread with crusty texture and the bread with split top and set them in the woven light beige breadbasket.",
+    "Simultaneously grab the round bread with crusty texture and the small loaf with curved top using the dual arm, then drop them in the plastic breadbasket with mesh sides.",
+    "Grab both the golden brown bread and the brown loaf with the dual arm and place in the light beige rectangular breadbasket.",
+    "Shift the golden bread loaf with soft inside and the soft brown bread together to the light and textured breadbasket.",
+    "Use both arms to move the golden brown bread with braided design, the soft brown bread to the light beige rectangular breadbasket.",
+    "Place the soft golden bread and the small loaf with curved top in the textured beige breadbasket using the dual arm",
+    "Pick the round bread with crusty texture and the light brown bread with ridges for the the textured beige breadbasket",
+    "Simultaneously grab the soft golden bread and the small golden brown bread, drop in the beige breadbasket for holding bread.",
+    "Take the bread with golden crust and the small golden brown bread, place them inside the plastic breadbasket with mesh sides.",
+    "Take the small bread and the soft brown bread together and place them into the beige breadbasket for holding bread.",
+    "Pick the small bread and the bread with warm golden color, place them in the plastic breadbasket with mesh sides.",
+    "Take the golden brown bread with braided design and the light brown loaf with smooth sides then place in the light beige rectangular breadbasket.",
+    "Pick up both the bread with golden crust and the bread with warm golden color, then place them in the breadbasket with textured sides.",
+    "Move the soft golden bread and the small loaf with curved top at once into the rectangular breadbasket.",
+    "Grab both the bread with golden crust and the golden bread loaf, drop into the plastic breadbasket with mesh sides.",
+    "Use the dual arm to place the soft golden bread and the bread with warm golden color into the beige breadbasket for holding bread.",
+    "Grab two breads the smooth crusty small bread and the soft brown bread and place in the light and textured breadbasket.",
+    "Put the round bread with crusty texture and the bread with warm golden color into the breadbasket with textured sides using two arms.",
+    "Move the golden brown bread and the bread with split top to the beige breadbasket",
+    "Take the braided bread loaf and the light brown loaf with smooth sides to the medium rectangular breadbasket",
+    "Use two arms and set the small bread, the smooth loaf with rounded edges in the plastic breadbasket with mesh sides.",
+    "Shift the golden brown bread and the golden bread loaf into the woven light beige breadbasket",
+    "Lift the golden brown bread with braided design and the smooth loaf with rounded edges with two arms, put in the woven light beige breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with golden crust and the light brown bread with ridges in the plastic mesh breadbasket.",
+    "Grab the smooth crusty small bread and the brown loaf quickly and drop them into the rectangular breadbasket.",
+    "Lift the small bread and the soft brown bread at once with the dual arm, then set them in the beige breadbasket for holding bread.",
+    "Pick the smooth crusty small bread and the bread with split top and set them in the breadbasket with textured sides."
+  ],
+  "unseen": [
+    "Grab the braided top round bread and the oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the breadbasket with woven pattern.",
+    "Place the braided top round bread and the oval bread into the breadbasket with woven pattern using the dual arm",
+    "Grab the round braided loaf and the oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the rounded oval bread and place in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the rounded oval bread, then place them in the breadbasket with woven pattern.",
+    "Pick the braided top round bread and the oval bread and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval bread, drop in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the oval bread and put them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the rounded oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick the braided top round bread and the oval bread and place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the braided top round bread and the oval bread, then place them in the breadbasket with woven pattern.",
+    "Pick the palm-sized braided golden bread and the oval-shaped soft bread and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval-shaped soft bread, drop in the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the rounded oval bread and put them in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop them into the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Place the round braided loaf and the oval-shaped soft bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the round braided loaf and the rounded oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the oval-shaped soft bread and place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the woven shallow breadbasket.",
+    "Pick the palm-sized braided golden bread and the oval bread and place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the round braided loaf and the oval bread, drop in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the shallow rectangular breadbasket.",
+    "Place the round braided loaf and the oval bread into the woven shallow breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the rounded oval bread and place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the oval-shaped soft bread, then place them in the woven shallow breadbasket.",
+    "Pick the braided top round bread and the oval bread and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the oval bread, drop in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the oval bread and put them in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the woven shallow breadbasket.",
+    "Place the round braided loaf and the oval bread into the woven shallow breadbasket using the dual arm",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick the braided top round bread and the oval bread and place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the round braided loaf and the oval bread, then place them in the breadbasket with woven pattern.",
+    "Pick the braided top round bread and the rounded oval bread and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the rounded oval bread and put them in the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the woven shallow breadbasket.",
+    "Place the braided top round bread and the rounded oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick the round braided loaf and the oval bread and place in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the oval-shaped soft bread, then place them in the shallow rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the oval-shaped soft bread and place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the braided top round bread and the oval-shaped soft bread, drop in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the woven shallow breadbasket.",
+    "Place the palm-sized braided golden bread and the rounded oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the rounded oval bread and place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the braided top round bread and the oval bread, then place them in the shallow rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the rounded oval bread and place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the palm-sized braided golden bread and the oval-shaped soft bread, drop in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the oval bread and put them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the woven shallow breadbasket.",
+    "Place the round braided loaf and the oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the rounded oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the oval-shaped soft bread and place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the oval bread, then place them in the breadbasket with woven pattern.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the oval-shaped soft bread, drop in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and put them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Place the round braided loaf and the oval bread into the woven shallow breadbasket using the dual arm",
+    "Grab the braided top round bread and the oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the oval bread and place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the rounded oval bread, then place them in the woven shallow breadbasket.",
+    "Pick the braided top round bread and the rounded oval bread and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and put them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the woven shallow breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread with two arms, place in the woven shallow breadbasket.",
+    "Place the round braided loaf and the oval bread into the breadbasket with woven pattern using the dual arm",
+    "Grab the braided top round bread and the oval bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick the round braided loaf and the rounded oval bread and place in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the shallow rectangular breadbasket.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the oval-shaped soft bread, drop in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and put them in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the oval bread into the woven shallow breadbasket using the dual arm",
+    "Grab the round braided loaf and the rounded oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the rounded oval bread and place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the woven shallow breadbasket.",
+    "Pick the palm-sized braided golden bread and the rounded oval bread and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval-shaped soft bread, drop in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and put them in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop them into the shallow rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode14.json b/place_bread_basket/demo_clean/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..48a7caad858f2b0bd5a9be319e2bfdd8714cf11e
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to move the soft doughy bread, the soft brown bread to the medium-sized rectangular breadbasket.",
+    "Move the round bread with crusty texture and the light brown loaf with smooth sides to the brown breadbasket with rounded corners",
+    "Lift the round bread with braided top and the soft brown bread with two arms, put in the medium woven breadbasket.",
+    "Pick the round bread with braided top and the light brown bread with ridges and set them in the light brown wicker breadbasket.",
+    "Grab both the round bread with crusty texture and the bread with golden-brown crust with the dual arm and place in the brown breadbasket.",
+    "Use the dual arm to place the soft doughy bread and the soft brown bread into the smooth textured brown breadbasket.",
+    "Grab the soft doughy bread and the hand-sized oval loaf quickly and drop them into the medium woven breadbasket.",
+    "Lift the round bread with crusty texture and the small golden brown bread at once with the dual arm, then set them in the medium-sized rectangular breadbasket.",
+    "Grab two breads the round bread with crusty texture and the golden bread loaf and place in the breadbasket with wicker weave pattern.",
+    "Simultaneously grab the soft doughy bread and the small loaf with curved top, drop in the light brown basket for bread.",
+    "Grab both the soft golden bread and the small loaf with curved top, drop into the brown breadbasket.",
+    "Take the golden brown bread with braided design and the hand-sized oval loaf, place them inside the breadbasket with wicker weave pattern.",
+    "Shift the smooth crusty small bread and the bread with split top into the medium-sized rectangular breadbasket",
+    "Simultaneously use the dual arm to drop the golden brown bread and the bread with split top in the breadbasket with smooth woven texture.",
+    "Move the small golden baked bread and the brown loaf at once into the light brown wicker breadbasket.",
+    "Use two arms and set the bread with golden crust, the hand-sized oval loaf in the smooth textured brown breadbasket.",
+    "Take the golden bread loaf with soft inside and the light brown loaf with smooth sides together and place them into the medium-sized rectangular breadbasket.",
+    "Take the smooth crusty small bread and the bread with warm golden color then place in the light brown basket for bread.",
+    "Place the smooth crusty small bread and the brown loaf in the brown breadbasket using the dual arm",
+    "Simultaneously grab the round bread with crusty texture and the soft brown bread using the dual arm, then drop them in the breadbasket with wicker weave pattern.",
+    "Pick the round bread with braided top and the smooth loaf with rounded edges for the the breadbasket with wicker weave pattern",
+    "Shift the smooth crusty small bread and the hand-sized oval loaf together to the breadbasket with wicker weave pattern.",
+    "Take the round bread with crusty texture and the smooth loaf with rounded edges to the light brown wicker breadbasket",
+    "Put the bread with golden crust and the small loaf with curved top into the breadbasket with rounded edges using two arms.",
+    "Pick up both the golden bread loaf with soft inside and the bread with split top, then place them in the breadbasket with smooth woven texture.",
+    "Pick the braided bread loaf and the soft brown bread, place them in the woven rectangular breadbasket.",
+    "Use both arms to move the golden bread loaf with soft inside, the soft brown bread to the smooth textured brown breadbasket.",
+    "Move the golden brown bread with braided design and the hand-sized oval loaf to the breadbasket with rounded edges",
+    "Lift the round bread with braided top and the bread with warm golden color with two arms, put in the brown breadbasket with rounded corners.",
+    "Pick the round bread with braided top and the bread with split top and set them in the breadbasket with wicker weave pattern.",
+    "Grab both the golden brown bread with braided design and the golden bread loaf with the dual arm and place in the breadbasket with wicker weave pattern.",
+    "Use the dual arm to place the small bread and the golden bread loaf into the breadbasket for holding bread.",
+    "Grab the golden bread loaf with soft inside and the brown loaf quickly and drop them into the breadbasket for holding bread.",
+    "Lift the golden brown bread with braided design and the small loaf with curved top at once with the dual arm, then set them in the breadbasket for holding bread.",
+    "Grab two breads the round bread with braided top and the small loaf with curved top and place in the breadbasket with rounded edges.",
+    "Simultaneously grab the golden brown bread and the small loaf with curved top, drop in the breadbasket with rounded edges.",
+    "Grab both the round bread with braided top and the light brown loaf with smooth sides, drop into the breadbasket for holding bread.",
+    "Take the braided bread loaf and the smooth loaf with rounded edges, place them inside the medium-sized rectangular breadbasket.",
+    "Shift the round bread with braided top and the light brown bread with ridges into the breadbasket with wicker weave pattern",
+    "Simultaneously use the dual arm to drop the soft doughy bread and the bread with golden-brown crust in the breadbasket with smooth woven texture.",
+    "Move the small golden baked bread and the bread with golden-brown crust at once into the brown breadbasket with rounded corners.",
+    "Use two arms and set the smooth crusty small bread, the light brown bread with ridges in the breadbasket with rounded edges.",
+    "Take the soft golden bread and the small loaf with curved top together and place them into the medium-sized rectangular breadbasket.",
+    "Take the bread with golden crust and the bread with split top then place in the medium-sized rectangular breadbasket.",
+    "Place the round bread with crusty texture and the small loaf with curved top in the breadbasket for holding bread using the dual arm",
+    "Simultaneously grab the soft doughy bread and the small golden brown bread using the dual arm, then drop them in the breadbasket with rounded edges.",
+    "Pick the small golden baked bread and the light brown loaf with smooth sides for the the brown breadbasket with rounded corners",
+    "Shift the golden bread loaf with soft inside and the hand-sized oval loaf together to the light brown basket for bread.",
+    "Take the braided bread loaf and the brown loaf to the medium woven breadbasket",
+    "Put the golden brown bread with braided design and the light brown loaf with smooth sides into the light brown wicker breadbasket using two arms.",
+    "Pick up both the soft doughy bread and the light brown loaf with smooth sides, then place them in the breadbasket with rounded edges.",
+    "Pick the small golden baked bread and the small loaf with curved top, place them in the medium-sized rectangular breadbasket.",
+    "Use both arms to move the golden bread loaf with soft inside, the golden bread loaf to the medium-sized rectangular breadbasket.",
+    "Move the golden brown bread and the small golden brown bread to the breadbasket with rounded edges",
+    "Lift the soft golden bread and the light brown loaf with smooth sides with two arms, put in the smooth textured brown breadbasket.",
+    "Pick the golden bread loaf with soft inside and the light brown loaf with smooth sides and set them in the smooth textured brown breadbasket.",
+    "Grab both the round bread with crusty texture and the hand-sized oval loaf with the dual arm and place in the light brown wicker breadbasket.",
+    "Use the dual arm to place the smooth crusty small bread and the hand-sized oval loaf into the light brown basket for bread.",
+    "Grab the golden brown bread with braided design and the brown loaf quickly and drop them into the woven rectangular breadbasket.",
+    "Lift the bread with golden crust and the bread with golden-brown crust at once with the dual arm, then set them in the medium woven breadbasket.",
+    "Grab two breads the braided bread loaf and the bread with golden-brown crust and place in the woven rectangular breadbasket.",
+    "Simultaneously grab the braided bread loaf and the golden bread loaf, drop in the light brown wicker breadbasket.",
+    "Grab both the small bread and the bread with warm golden color, drop into the breadbasket for holding bread.",
+    "Take the soft doughy bread and the hand-sized oval loaf, place them inside the breadbasket with rounded edges.",
+    "Shift the braided bread loaf and the small loaf with curved top into the brown breadbasket",
+    "Simultaneously use the dual arm to drop the round bread with crusty texture and the light brown bread with ridges in the breadbasket for holding bread.",
+    "Move the bread with golden crust and the brown loaf at once into the breadbasket with wicker weave pattern.",
+    "Use two arms and set the golden brown bread, the bread with split top in the light brown basket for bread.",
+    "Take the small golden baked bread and the light brown loaf with smooth sides together and place them into the breadbasket with rounded edges.",
+    "Take the braided bread loaf and the small golden brown bread then place in the woven rectangular breadbasket.",
+    "Place the small bread and the bread with golden-brown crust in the medium woven breadbasket using the dual arm",
+    "Simultaneously grab the small bread and the bread with split top using the dual arm, then drop them in the smooth textured brown breadbasket.",
+    "Pick the golden brown bread with braided design and the light brown bread with ridges for the the breadbasket for holding bread",
+    "Shift the golden brown bread with braided design and the hand-sized oval loaf together to the light brown wicker breadbasket.",
+    "Take the braided bread loaf and the bread with golden-brown crust to the breadbasket for holding bread",
+    "Put the soft doughy bread and the light brown bread with ridges into the light brown basket for bread using two arms.",
+    "Pick up both the round bread with braided top and the light brown loaf with smooth sides, then place them in the breadbasket with rounded edges.",
+    "Pick the bread with golden crust and the brown loaf, place them in the woven rectangular breadbasket.",
+    "Use both arms to move the golden brown bread, the brown loaf to the woven rectangular breadbasket.",
+    "Move the small golden baked bread and the small golden brown bread to the smooth textured brown breadbasket",
+    "Lift the round bread with crusty texture and the brown loaf with two arms, put in the breadbasket for holding bread.",
+    "Pick the bread with golden crust and the small loaf with curved top and set them in the light brown wicker breadbasket.",
+    "Grab both the round bread with crusty texture and the light brown loaf with smooth sides with the dual arm and place in the light brown wicker breadbasket.",
+    "Use the dual arm to place the small bread and the small golden brown bread into the light brown basket for bread.",
+    "Grab the small golden baked bread and the bread with split top quickly and drop them into the breadbasket with rounded edges.",
+    "Lift the soft golden bread and the golden bread loaf at once with the dual arm, then set them in the brown breadbasket.",
+    "Grab two breads the round bread with braided top and the bread with golden-brown crust and place in the breadbasket with wicker weave pattern.",
+    "Simultaneously grab the soft golden bread and the bread with split top, drop in the breadbasket with smooth woven texture.",
+    "Grab both the golden brown bread and the hand-sized oval loaf, drop into the breadbasket with rounded edges.",
+    "Take the golden brown bread with braided design and the smooth loaf with rounded edges, place them inside the medium-sized rectangular breadbasket.",
+    "Shift the golden brown bread with braided design and the bread with golden-brown crust into the woven rectangular breadbasket",
+    "Simultaneously use the dual arm to drop the small golden baked bread and the smooth loaf with rounded edges in the medium-sized rectangular breadbasket.",
+    "Move the soft doughy bread and the light brown loaf with smooth sides at once into the breadbasket for holding bread.",
+    "Use two arms and set the golden brown bread with braided design, the bread with golden-brown crust in the woven rectangular breadbasket.",
+    "Take the golden brown bread with braided design and the brown loaf together and place them into the smooth textured brown breadbasket.",
+    "Take the small golden baked bread and the golden bread loaf then place in the medium woven breadbasket.",
+    "Place the soft doughy bread and the bread with split top in the breadbasket for holding bread using the dual arm",
+    "Simultaneously grab the small golden baked bread and the bread with split top using the dual arm, then drop them in the brown breadbasket with rounded corners.",
+    "Pick the soft doughy bread and the bread with warm golden color for the the smooth textured brown breadbasket",
+    "Shift the round bread with crusty texture and the brown loaf together to the light brown wicker breadbasket."
+  ],
+  "unseen": [
+    "Use the dual arm to pick up the palm-sized braided golden bread and the rounded oval bread, then place them in the rectangular breadbasket.",
+    "Grab the round braided loaf and the oval bread and drop them into the medium light brown breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and put them in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the oval-shaped soft bread into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the round braided loaf and the oval bread and place in the medium light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the rectangular light brown breadbasket.",
+    "Pick the braided top round bread and the rounded oval bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the rounded oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop them into the medium light brown breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and drop it into the medium light brown breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and put them in the rectangular breadbasket.",
+    "Place the braided top round bread and the oval-shaped soft bread into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the round braided loaf and the oval-shaped soft bread and place in the rectangular breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the medium light brown breadbasket.",
+    "Pick the braided top round bread and the oval bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the oval-shaped soft bread, then place them in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the medium light brown breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and put them in the rectangular light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the oval bread into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the palm-sized braided golden bread and the oval-shaped soft bread and place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the rounded oval bread, drop in the rectangular light brown breadbasket.",
+    "Pick the braided top round bread and the oval bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the oval-shaped soft bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and drop them into the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and put them in the medium light brown breadbasket.",
+    "Place the round braided loaf and the rounded oval bread into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the round braided loaf and the oval bread and place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval bread, drop in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the rounded oval bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the oval bread, then place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and put them in the rectangular breadbasket.",
+    "Place the braided top round bread and the rounded oval bread into the rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick the palm-sized braided golden bread and the rounded oval bread and place in the rectangular breadbasket.",
+    "Use one arm to grab the round braided loaf and the rounded oval bread, drop in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the rounded oval bread and place them in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the medium light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and put them in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the oval bread into the rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick the round braided loaf and the oval bread and place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval bread, drop in the rectangular breadbasket.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and drop them into the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and drop it into the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and put them in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the oval bread into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the braided top round bread and the oval bread and place in the rectangular breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the oval-shaped soft bread, then place them in the rectangular breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and drop them into the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop it into the medium light brown breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and put them in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the rounded oval bread into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the braided top round bread and the oval bread and place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the rounded oval bread, drop in the rectangular light brown breadbasket.",
+    "Pick the braided top round bread and the oval bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval bread, then place them in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and put them in the rectangular breadbasket.",
+    "Place the round braided loaf and the rounded oval bread into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the round braided loaf and the oval bread and place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the rounded oval bread and place them in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the oval bread, then place them in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop them into the medium light brown breadbasket.",
+    "Grab the braided top round bread and the oval bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and drop it into the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the rectangular light brown breadbasket.",
+    "Place the round braided loaf and the oval-shaped soft bread into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the round braided loaf and the rounded oval bread and place in the medium light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the rounded oval bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the rounded oval bread, then place them in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the rectangular breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and drop it into the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and put them in the rectangular breadbasket.",
+    "Place the round braided loaf and the oval bread into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the palm-sized braided golden bread and the rounded oval bread and place in the medium light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval bread, drop in the rectangular light brown breadbasket.",
+    "Pick the palm-sized braided golden bread and the rounded oval bread and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode15.json b/place_bread_basket/demo_clean/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..24f42612787a56fc0a9e08e77af8297d2501ae8c
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the dual arm to place the golden bread and the light brown loaf with smooth sides into the plastic breadbasket with mesh sides.",
+    "Take the soft golden baked bread and the brown loaf together and place them into the woven light beige breadbasket.",
+    "Take the rectangular bread soft inside and the hand-sized oval loaf to the rectangular breadbasket",
+    "Move the slice-shaped bread and the bread with golden-brown crust to the textured beige breadbasket",
+    "Pick the square loaf of bread and the smooth loaf with rounded edges and set them in the medium rectangular breadbasket.",
+    "Lift the bread loaf with square shape and the hand-sized oval loaf with two arms, put in the plastic breadbasket with mesh sides.",
+    "Grab both the slice-shaped bread and the small golden brown bread with the dual arm and place in the plastic breadbasket with mesh sides.",
+    "Grab two breads the bread with golden surface color and the bread with split top and place in the woven light beige breadbasket.",
+    "Use two arms and set the square loaf of bread, the soft brown bread in the textured beige breadbasket.",
+    "Use both arms to move the square loaf of bread, the bread with golden-brown crust to the light beige rectangular breadbasket.",
+    "Lift the square loaf of bread and the small loaf with curved top at once with the dual arm, then set them in the textured beige breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with rounded corners and the light brown bread with ridges in the rectangular breadbasket.",
+    "Take the golden crusted bread slice and the soft brown bread, place them inside the plastic mesh breadbasket.",
+    "Take the golden bread and the brown loaf then place in the woven light beige breadbasket.",
+    "Pick up both the golden brown loaf-shaped bread and the golden bread loaf, then place them in the breadbasket with textured sides.",
+    "Shift the golden crusted bread slice and the small loaf with curved top together to the breadbasket for bread storage.",
+    "Grab both the bread with golden surface color and the hand-sized oval loaf, drop into the light beige rectangular breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the golden bread loaf using the dual arm, then drop them in the light beige rectangular breadbasket.",
+    "Move the bread with firm crust edges and the bread with split top at once into the plastic breadbasket with mesh sides.",
+    "Pick the bread with golden surface color and the bread with warm golden color, place them in the breadbasket for bread storage.",
+    "Grab the soft golden baked bread and the smooth loaf with rounded edges quickly and drop them into the rectangular breadbasket.",
+    "Pick the bread loaf with square shape and the small golden brown bread for the the beige breadbasket",
+    "Place the bread with firm crust edges and the small golden brown bread in the plastic breadbasket with mesh sides using the dual arm",
+    "Put the brown bread loaf and the bread with golden-brown crust into the rectangular breadbasket using two arms.",
+    "Simultaneously grab the bread loaf with square shape and the golden bread loaf, drop in the plastic mesh breadbasket.",
+    "Shift the golden bread and the small golden brown bread into the plastic breadbasket with mesh sides",
+    "Use the dual arm to place the rectangular bread soft inside and the hand-sized oval loaf into the plastic mesh breadbasket.",
+    "Take the rectangular bread soft inside and the golden bread loaf together and place them into the light and textured breadbasket.",
+    "Take the bread loaf with square shape and the bread with warm golden color to the light beige rectangular breadbasket",
+    "Move the bread with rounded corners and the light brown loaf with smooth sides to the beige breadbasket",
+    "Pick the soft golden baked bread and the hand-sized oval loaf and set them in the light beige rectangular breadbasket.",
+    "Lift the bread loaf with square shape and the light brown bread with ridges with two arms, put in the plastic breadbasket with mesh sides.",
+    "Grab both the bread with firm crust edges and the light brown bread with ridges with the dual arm and place in the breadbasket with textured sides.",
+    "Grab two breads the golden crusted bread slice and the small golden brown bread and place in the medium rectangular breadbasket.",
+    "Use two arms and set the square loaf of bread, the small loaf with curved top in the plastic mesh breadbasket.",
+    "Use both arms to move the bread loaf with square shape, the soft brown bread to the woven light beige breadbasket.",
+    "Lift the slice-shaped bread and the bread with split top at once with the dual arm, then set them in the plastic breadbasket with mesh sides.",
+    "Simultaneously use the dual arm to drop the slice-shaped bread and the golden bread loaf in the breadbasket for bread storage.",
+    "Take the golden brown loaf-shaped bread and the bread with golden-brown crust, place them inside the textured beige breadbasket.",
+    "Take the golden crusted bread slice and the bread with golden-brown crust then place in the beige breadbasket.",
+    "Pick up both the square loaf of bread and the small golden brown bread, then place them in the beige breadbasket.",
+    "Shift the golden bread and the bread with split top together to the breadbasket for bread storage.",
+    "Grab both the rectangular bread soft inside and the bread with split top, drop into the textured beige breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the small loaf with curved top using the dual arm, then drop them in the light beige rectangular breadbasket.",
+    "Move the golden bread and the light brown bread with ridges at once into the rectangular breadbasket.",
+    "Pick the slice-shaped bread and the small loaf with curved top, place them in the textured beige breadbasket.",
+    "Grab the golden brown loaf-shaped bread and the bread with golden-brown crust quickly and drop them into the breadbasket for bread storage.",
+    "Pick the golden brown loaf-shaped bread and the smooth loaf with rounded edges for the the woven light beige breadbasket",
+    "Place the golden bread and the soft brown bread in the woven light beige breadbasket using the dual arm",
+    "Put the golden brown loaf-shaped bread and the hand-sized oval loaf into the textured beige breadbasket using two arms.",
+    "Simultaneously grab the golden crusted bread slice and the bread with warm golden color, drop in the textured beige breadbasket.",
+    "Shift the square loaf of bread and the light brown loaf with smooth sides into the beige breadbasket",
+    "Use the dual arm to place the bread with firm crust edges and the light brown loaf with smooth sides into the woven light beige breadbasket.",
+    "Take the bread with rounded corners and the bread with warm golden color together and place them into the light beige rectangular breadbasket.",
+    "Take the rectangular bread soft inside and the brown loaf to the woven light beige breadbasket",
+    "Move the brown bread loaf and the soft brown bread to the light beige rectangular breadbasket",
+    "Pick the golden bread and the smooth loaf with rounded edges and set them in the breadbasket with textured sides.",
+    "Lift the rectangular bread soft inside and the bread with golden-brown crust with two arms, put in the plastic breadbasket with mesh sides.",
+    "Grab both the golden crusted bread slice and the bread with warm golden color with the dual arm and place in the rectangular breadbasket.",
+    "Grab two breads the rectangular bread soft inside and the hand-sized oval loaf and place in the breadbasket for bread storage.",
+    "Use two arms and set the bread loaf with square shape, the soft brown bread in the beige breadbasket for holding bread.",
+    "Use both arms to move the bread with rounded corners, the bread with warm golden color to the light beige rectangular breadbasket.",
+    "Lift the rectangular bread soft inside and the hand-sized oval loaf at once with the dual arm, then set them in the rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the brown bread loaf and the bread with split top in the beige breadbasket for holding bread.",
+    "Take the bread with firm crust edges and the smooth loaf with rounded edges, place them inside the medium rectangular breadbasket.",
+    "Take the bread loaf with square shape and the hand-sized oval loaf then place in the textured beige breadbasket.",
+    "Pick up both the rectangular bread soft inside and the bread with split top, then place them in the rectangular breadbasket.",
+    "Shift the golden bread and the bread with split top together to the plastic mesh breadbasket.",
+    "Grab both the golden bread and the small loaf with curved top, drop into the light and textured breadbasket.",
+    "Simultaneously grab the bread with firm crust edges and the soft brown bread using the dual arm, then drop them in the breadbasket with textured sides.",
+    "Move the square loaf of bread and the light brown bread with ridges at once into the woven light beige breadbasket.",
+    "Pick the bread with rounded corners and the bread with split top, place them in the breadbasket for bread storage.",
+    "Grab the bread loaf with square shape and the light brown loaf with smooth sides quickly and drop them into the rectangular breadbasket.",
+    "Pick the bread with rounded corners and the small loaf with curved top for the the textured beige breadbasket",
+    "Place the brown bread loaf and the smooth loaf with rounded edges in the beige breadbasket for holding bread using the dual arm",
+    "Put the golden crusted bread slice and the small loaf with curved top into the plastic mesh breadbasket using two arms.",
+    "Simultaneously grab the golden bread and the light brown loaf with smooth sides, drop in the breadbasket with textured sides.",
+    "Shift the bread loaf with square shape and the light brown loaf with smooth sides into the breadbasket for bread storage",
+    "Use the dual arm to place the square loaf of bread and the bread with golden-brown crust into the light beige rectangular breadbasket.",
+    "Take the golden brown loaf-shaped bread and the smooth loaf with rounded edges together and place them into the light beige rectangular breadbasket.",
+    "Take the bread with rounded corners and the golden bread loaf to the beige breadbasket for holding bread",
+    "Move the golden bread and the soft brown bread to the beige breadbasket",
+    "Pick the rectangular bread soft inside and the golden bread loaf and set them in the light and textured breadbasket.",
+    "Lift the soft golden baked bread and the brown loaf with two arms, put in the light beige rectangular breadbasket.",
+    "Grab both the golden bread and the bread with split top with the dual arm and place in the light and textured breadbasket.",
+    "Grab two breads the square loaf of bread and the light brown loaf with smooth sides and place in the beige breadbasket.",
+    "Use two arms and set the bread with rounded corners, the bread with golden-brown crust in the medium rectangular breadbasket.",
+    "Use both arms to move the golden bread, the soft brown bread to the plastic mesh breadbasket.",
+    "Lift the bread with firm crust edges and the soft brown bread at once with the dual arm, then set them in the light and textured breadbasket.",
+    "Simultaneously use the dual arm to drop the soft golden baked bread and the soft brown bread in the rectangular breadbasket.",
+    "Take the slice-shaped bread and the bread with split top, place them inside the breadbasket for bread storage.",
+    "Take the bread with rounded corners and the hand-sized oval loaf then place in the textured beige breadbasket.",
+    "Pick up both the golden bread and the soft brown bread, then place them in the plastic breadbasket with mesh sides.",
+    "Shift the brown bread loaf and the bread with split top together to the woven light beige breadbasket.",
+    "Grab both the brown bread loaf and the small golden brown bread, drop into the light and textured breadbasket.",
+    "Simultaneously grab the soft golden baked bread and the small golden brown bread using the dual arm, then drop them in the rectangular breadbasket.",
+    "Move the soft golden baked bread and the small golden brown bread at once into the plastic mesh breadbasket.",
+    "Pick the bread with golden surface color and the golden bread loaf, place them in the rectangular breadbasket.",
+    "Grab the brown bread loaf and the light brown bread with ridges quickly and drop them into the beige breadbasket.",
+    "Pick the soft golden baked bread and the small golden brown bread for the the medium rectangular breadbasket"
+  ],
+  "unseen": [
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and put them in the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread and the oval bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the soft rectangular bread loaf and the rounded oval bread, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the small loaf-shaped bread and the oval bread and place in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread with two arms, place in the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and the rounded oval bread and place them in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval-shaped soft bread, then place them in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the shallow rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the soft rectangular bread loaf and the rounded oval bread, drop in the woven shallow breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the oval bread and place in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval-shaped soft bread, then place them in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and put them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the small loaf-shaped bread and the rounded oval bread, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the oval-shaped soft bread and place in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the bread loaf medium-sized and the rounded oval bread and place them in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the rounded oval bread, then place them in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the shallow rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the bread loaf medium-sized and the oval-shaped soft bread, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the rounded oval bread and place in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the breadbasket with woven pattern.",
+    "Pick the bread loaf medium-sized and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and put them in the breadbasket with woven pattern.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the soft rectangular bread loaf and the oval-shaped soft bread, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the bread loaf medium-sized and the oval bread and place in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop them into the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and the rounded oval bread and place them in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the rounded oval bread, then place them in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and put them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the rounded oval bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the soft rectangular bread loaf and the rounded oval bread, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the rounded oval bread and place in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the rounded oval bread, then place them in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the oval bread and put them in the shallow rectangular breadbasket.",
+    "Place the soft rectangular bread loaf and the rounded oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the rounded oval bread and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop them into the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the oval-shaped soft bread and place them in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the rounded oval bread, then place them in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and put them in the shallow rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the rounded oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the woven shallow breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the oval bread and place in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop them into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the oval-shaped soft bread and place them in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval-shaped soft bread, then place them in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the woven shallow breadbasket.",
+    "Place the small loaf-shaped bread and the rounded oval bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the small loaf-shaped bread and the rounded oval bread, drop in the woven shallow breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the oval-shaped soft bread and place in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and the rounded oval bread and place them in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the oval bread, then place them in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and put them in the breadbasket with woven pattern.",
+    "Place the bread loaf medium-sized and the oval-shaped soft bread into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the oval bread and place in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread with two arms, place in the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the rounded oval bread, then place them in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and put them in the breadbasket with woven pattern.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the soft rectangular bread loaf and the rounded oval bread, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the oval bread and place in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread with two arms, place in the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and the oval bread and place them in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop it into the breadbasket with woven pattern."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode16.json b/place_bread_basket/demo_clean/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e7aae223f2b4dd4eccbaf005b11ad9c4b7b1f0b
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bread with golden crust and the bread with soft texture, place them inside the palm-sized breadbasket.",
+    "Put the small bread and the square-shaped bread piece into the breadbasket shaped like a bowl using two arms.",
+    "Move the soft golden bread and the medium bread with rounded sides to the breadbasket shaped like a bowl",
+    "Take the smooth crusty small bread and the fluffy baked bread together and place them into the medium breadbasket.",
+    "Place the soft doughy bread and the soft square bread in the breadbasket with spiral lines using the dual arm",
+    "Use two arms and set the smooth crusty small bread, the bread with rounded edges in the breadbasket for baking.",
+    "Take the round bread with crusty texture and the medium-sized bread piece to the round breadbasket",
+    "Pick the small bread and the light brown porous bread and set them in the spiral ridged breadbasket.",
+    "Simultaneously grab the golden brown bread and the bread with rounded edges using the dual arm, then drop them in the breadbasket with spiral lines.",
+    "Move the small bread and the bread with rounded edges at once into the breadbasket for baking.",
+    "Pick up both the golden brown bread with braided design and the medium bread with rounded sides, then place them in the breadbasket for dough.",
+    "Shift the round bread with braided top and the bread with soft texture into the breadbasket made of woven wood",
+    "Lift the soft golden bread and the golden baked bread with two arms, put in the breadbasket for dough.",
+    "Use both arms to move the golden brown bread with braided design, the bread with rounded edges to the smooth beige breadbasket.",
+    "Pick the smooth crusty small bread and the golden brown bread for the the medium breadbasket",
+    "Take the smooth crusty small bread and the medium bread with rounded sides then place in the breadbasket with flat base.",
+    "Grab two breads the small golden baked bread and the rounded square loaf and place in the breadbasket made of woven wood.",
+    "Pick the golden brown bread and the light brown porous bread, place them in the spiral ridged breadbasket.",
+    "Simultaneously grab the braided bread loaf and the sponge-textured golden bread, drop in the smooth beige breadbasket.",
+    "Grab the round bread with braided top and the soft square bread quickly and drop them into the spiral ridged breadbasket.",
+    "Shift the small bread and the soft square bread together to the breadbasket with spiral lines.",
+    "Use the dual arm to place the round bread with crusty texture and the golden baked bread into the breadbasket with flat base.",
+    "Grab both the small golden baked bread and the bread with soft texture with the dual arm and place in the medium breadbasket.",
+    "Lift the small golden baked bread and the light brown porous bread at once with the dual arm, then set them in the breadbasket for dough.",
+    "Simultaneously use the dual arm to drop the bread with golden crust and the golden baked bread in the breadbasket for dough.",
+    "Grab both the round bread with crusty texture and the medium bread with rounded sides, drop into the breadbasket for dough.",
+    "Take the small golden baked bread and the soft square bread, place them inside the breadbasket shaped like a bowl.",
+    "Put the small golden baked bread and the rounded square loaf into the smooth beige breadbasket using two arms.",
+    "Move the small bread and the bread with soft texture to the wooden breadbasket",
+    "Take the golden bread loaf with soft inside and the medium-sized bread piece together and place them into the breadbasket with flat base.",
+    "Place the small golden baked bread and the fluffy baked bread in the spiral ridged breadbasket using the dual arm",
+    "Use two arms and set the soft doughy bread, the medium-sized bread piece in the breadbasket shaped like a bowl.",
+    "Take the golden bread loaf with soft inside and the sponge-textured golden bread to the breadbasket with flat base",
+    "Pick the soft doughy bread and the bread with rounded edges and set them in the breadbasket for dough.",
+    "Simultaneously grab the golden brown bread and the soft square bread using the dual arm, then drop them in the round breadbasket.",
+    "Move the round bread with crusty texture and the medium bread with rounded sides at once into the breadbasket made of woven wood.",
+    "Pick up both the golden bread loaf with soft inside and the rounded square loaf, then place them in the medium breadbasket.",
+    "Shift the round bread with braided top and the square-shaped bread piece into the breadbasket made of woven wood",
+    "Lift the round bread with braided top and the golden brown bread with two arms, put in the smooth beige breadbasket.",
+    "Use both arms to move the round bread with braided top, the medium bread with rounded sides to the breadbasket shaped like a bowl.",
+    "Pick the golden brown bread with braided design and the golden brown bread for the the breadbasket for dough",
+    "Take the soft golden bread and the light brown porous bread then place in the smooth beige breadbasket.",
+    "Grab two breads the golden brown bread with braided design and the soft square bread and place in the round breadbasket.",
+    "Pick the bread with golden crust and the medium bread with rounded sides, place them in the medium breadbasket.",
+    "Simultaneously grab the small golden baked bread and the sponge-textured golden bread, drop in the palm-sized breadbasket.",
+    "Grab the soft golden bread and the rounded square loaf quickly and drop them into the breadbasket for dough.",
+    "Shift the smooth crusty small bread and the square-shaped bread piece together to the breadbasket made of woven wood.",
+    "Use the dual arm to place the small golden baked bread and the bread with soft texture into the smooth beige breadbasket.",
+    "Grab both the soft golden bread and the square-shaped bread piece with the dual arm and place in the round breadbasket.",
+    "Lift the soft golden bread and the medium-sized bread piece at once with the dual arm, then set them in the spiral ridged breadbasket.",
+    "Simultaneously use the dual arm to drop the soft golden bread and the medium-sized bread piece in the breadbasket for baking.",
+    "Grab both the soft doughy bread and the sponge-textured golden bread, drop into the wooden breadbasket.",
+    "Take the braided bread loaf and the sponge-textured golden bread, place them inside the medium breadbasket.",
+    "Put the bread with golden crust and the bread with soft texture into the breadbasket with spiral lines using two arms.",
+    "Move the braided bread loaf and the square-shaped bread piece to the medium breadbasket",
+    "Take the soft golden bread and the golden brown bread together and place them into the breadbasket made of woven wood.",
+    "Place the smooth crusty small bread and the medium-sized bread piece in the smooth beige breadbasket using the dual arm",
+    "Use two arms and set the golden bread loaf with soft inside, the medium-sized bread piece in the spiral ridged breadbasket.",
+    "Take the round bread with crusty texture and the golden baked bread to the wooden breadbasket",
+    "Pick the bread with golden crust and the medium-sized bread piece and set them in the medium breadbasket.",
+    "Simultaneously grab the soft golden bread and the golden brown bread using the dual arm, then drop them in the breadbasket for baking.",
+    "Move the golden bread loaf with soft inside and the medium bread with rounded sides at once into the wooden breadbasket.",
+    "Pick up both the small golden baked bread and the medium bread with rounded sides, then place them in the breadbasket shaped like a bowl.",
+    "Shift the golden brown bread and the square-shaped bread piece into the breadbasket made of woven wood",
+    "Lift the bread with golden crust and the bread with soft texture with two arms, put in the breadbasket for dough.",
+    "Use both arms to move the golden brown bread with braided design, the rounded square loaf to the breadbasket made of woven wood.",
+    "Pick the round bread with braided top and the medium bread with rounded sides for the the medium breadbasket",
+    "Take the small bread and the golden baked bread then place in the breadbasket shaped like a bowl.",
+    "Grab two breads the round bread with crusty texture and the medium bread with rounded sides and place in the palm-sized breadbasket.",
+    "Pick the soft golden bread and the rounded square loaf, place them in the wooden breadbasket.",
+    "Simultaneously grab the round bread with crusty texture and the medium bread with rounded sides, drop in the breadbasket with flat base.",
+    "Grab the golden brown bread and the bread with soft texture quickly and drop them into the round breadbasket.",
+    "Shift the bread with golden crust and the rounded square loaf together to the breadbasket shaped like a bowl.",
+    "Use the dual arm to place the golden bread loaf with soft inside and the medium-sized bread piece into the wooden breadbasket.",
+    "Grab both the golden brown bread and the soft square bread with the dual arm and place in the wooden breadbasket.",
+    "Lift the round bread with crusty texture and the medium bread with rounded sides at once with the dual arm, then set them in the smooth beige breadbasket.",
+    "Simultaneously use the dual arm to drop the small bread and the light brown porous bread in the spiral ridged breadbasket.",
+    "Grab both the round bread with crusty texture and the square-shaped bread piece, drop into the breadbasket for dough.",
+    "Take the small bread and the golden baked bread, place them inside the breadbasket with spiral lines.",
+    "Put the golden brown bread and the rounded square loaf into the smooth beige breadbasket using two arms.",
+    "Move the golden brown bread with braided design and the bread with soft texture to the breadbasket for dough",
+    "Take the small bread and the medium-sized bread piece together and place them into the breadbasket for baking.",
+    "Place the golden brown bread and the soft square bread in the breadbasket with flat base using the dual arm",
+    "Use two arms and set the soft golden bread, the medium bread with rounded sides in the breadbasket shaped like a bowl.",
+    "Take the golden bread loaf with soft inside and the fluffy baked bread to the breadbasket made of woven wood",
+    "Pick the round bread with crusty texture and the golden baked bread and set them in the palm-sized breadbasket.",
+    "Simultaneously grab the small bread and the medium bread with rounded sides using the dual arm, then drop them in the breadbasket shaped like a bowl.",
+    "Move the small golden baked bread and the light brown porous bread at once into the wooden breadbasket.",
+    "Pick up both the golden brown bread with braided design and the golden baked bread, then place them in the breadbasket made of woven wood.",
+    "Shift the golden brown bread and the soft square bread into the breadbasket shaped like a bowl",
+    "Lift the round bread with braided top and the light brown porous bread with two arms, put in the breadbasket for baking.",
+    "Use both arms to move the smooth crusty small bread, the medium-sized bread piece to the wooden breadbasket.",
+    "Pick the round bread with crusty texture and the medium-sized bread piece for the the round breadbasket",
+    "Take the small golden baked bread and the light brown porous bread then place in the palm-sized breadbasket.",
+    "Grab two breads the round bread with braided top and the fluffy baked bread and place in the round breadbasket.",
+    "Pick the golden brown bread with braided design and the square-shaped bread piece, place them in the breadbasket made of woven wood.",
+    "Simultaneously grab the round bread with braided top and the square-shaped bread piece, drop in the breadbasket made of woven wood.",
+    "Grab the small bread and the medium bread with rounded sides quickly and drop them into the wooden breadbasket.",
+    "Shift the soft doughy bread and the sponge-textured golden bread together to the medium breadbasket.",
+    "Use the dual arm to place the golden bread loaf with soft inside and the medium bread with rounded sides into the spiral ridged breadbasket."
+  ],
+  "unseen": [
+    "Use the dual arm to pick the braided top round bread and the square bread with light spots and place in the beige breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and put them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop it into the light wooden breadbasket.",
+    "Pick the palm-sized braided golden bread and the soft bread with golden edges and place them in the round beige breadbasket.",
+    "Place the braided top round bread and the square bread with light spots into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the spongy golden brown bread, then place them in the round beige breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the spongy golden brown bread, drop in the light wooden breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and drop them into the light wooden breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the square bread with light spots and place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and put them in the beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and drop it into the light wooden breadbasket.",
+    "Pick the round braided loaf and the soft bread with golden edges and place them in the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the spongy golden brown bread into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the soft bread with golden edges, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the square bread with light spots and place in the round beige breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots and put them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and drop it into the beige breadbasket.",
+    "Pick the braided top round bread and the square bread with light spots and place them in the round beige breadbasket.",
+    "Place the braided top round bread and the soft bread with golden edges into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and drop them into the beige breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the soft bread with golden edges and place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and put them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop it into the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the square bread with light spots and place them in the light wooden breadbasket.",
+    "Place the round braided loaf and the soft bread with golden edges into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the soft bread with golden edges, drop in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop them into the light wooden breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the square bread with light spots and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and put them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the soft bread with golden edges and place them in the light wooden breadbasket.",
+    "Place the round braided loaf and the soft bread with golden edges into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the spongy golden brown bread, then place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the light wooden breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the soft bread with golden edges and place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and drop it into the round beige breadbasket.",
+    "Pick the braided top round bread and the soft bread with golden edges and place them in the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the square bread with light spots, drop in the beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the spongy golden brown bread and place in the beige breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and put them in the beige breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and drop it into the light wooden breadbasket.",
+    "Pick the round braided loaf and the square bread with light spots and place them in the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the spongy golden brown bread into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the soft bread with golden edges, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the braided top round bread and the soft bread with golden edges, drop in the light wooden breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the square bread with light spots and place in the beige breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and put them in the round beige breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Pick the round braided loaf and the square bread with light spots and place them in the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the soft bread with golden edges and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and put them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Pick the round braided loaf and the soft bread with golden edges and place them in the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick up the braided top round bread and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the spongy golden brown bread, drop in the light wooden breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the spongy golden brown bread and place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots and put them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop it into the light wooden breadbasket.",
+    "Pick the braided top round bread and the spongy golden brown bread and place them in the beige breadbasket.",
+    "Place the round braided loaf and the spongy golden brown bread into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the square bread with light spots, then place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the spongy golden brown bread and place in the beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop it into the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the square bread with light spots and place them in the round beige breadbasket.",
+    "Place the braided top round bread and the spongy golden brown bread into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the spongy golden brown bread, then place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the spongy golden brown bread and place in the light wooden breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode17.json b/place_bread_basket/demo_clean/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7aa0a7b10ee6eaad5e50aea649695895cdb5778
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bread with rough texture and the soft square bread, place them in the oval perforated breadbasket white edges.",
+    "Shift the light golden brown bread and the bread with rounded edges together to the basket for bread beige plastic.",
+    "Move the square-shaped bread and the square-shaped bread piece at once into the smooth textured breadbasket.",
+    "Use the dual arm to place the light golden brown bread and the rounded square loaf into the oval perforated breadbasket white edges.",
+    "Shift the golden bread and the light brown porous bread into the medium breadbasket with perforated sides",
+    "Take the soft bread and the rounded square loaf to the beige basket with white grid design",
+    "Grab both the cuboid bread and the medium-sized bread piece with the dual arm and place in the beige plastic breadbasket.",
+    "Place the bread with rough texture and the bread with rounded edges in the smooth textured breadbasket using the dual arm",
+    "Take the light golden brown bread and the fluffy baked bread, place them inside the beige basket with white grid design.",
+    "Lift the bread loaf with uneven edges and the medium bread with rounded sides with two arms, put in the beige basket with white grid design.",
+    "Pick up both the square-shaped bread and the golden brown bread, then place them in the beige breadbasket.",
+    "Grab two breads the square-shaped bread and the medium bread with rounded sides and place in the medium breadbasket with perforated sides.",
+    "Simultaneously use the dual arm to drop the light golden brown bread and the square-shaped bread piece in the medium oval basket for bread.",
+    "Use both arms to move the bread loaf with uneven edges, the light brown porous bread to the beige plastic breadbasket.",
+    "Take the bread loaf with bumpy surface and the rounded square loaf together and place them into the oval perforated breadbasket white edges.",
+    "Grab both the bread with rough texture and the bread with rounded edges, drop into the beige plastic breadbasket.",
+    "Use two arms and set the cuboid bread, the bread with soft texture in the beige plastic breadbasket.",
+    "Pick the square-shaped bread and the rounded square loaf for the the white oval breadbasket",
+    "Simultaneously grab the light golden brown bread and the soft square bread using the dual arm, then drop them in the oval-shaped breadbasket.",
+    "Put the light golden brown bread and the light brown porous bread into the oval-shaped breadbasket using two arms.",
+    "Grab the bread loaf with bumpy surface and the golden baked bread quickly and drop them into the beige breadbasket.",
+    "Take the doughy and soft bread and the fluffy baked bread then place in the medium oval basket for bread.",
+    "Pick the hand-sized bread block and the bread with rounded edges and set them in the beige breadbasket.",
+    "Move the hand-sized bread block and the soft square bread to the medium oval basket for bread",
+    "Lift the golden bread and the sponge-textured golden bread at once with the dual arm, then set them in the smooth textured breadbasket.",
+    "Simultaneously grab the golden bread and the fluffy baked bread, drop in the basket for carrying bread beige.",
+    "Pick the bread block with light patches and the rounded square loaf, place them in the basket for bread beige plastic.",
+    "Shift the bread with rough texture and the bread with rounded edges together to the medium plastic breadbasket oval shape.",
+    "Move the bread with rough texture and the square-shaped bread piece at once into the basket for carrying bread beige.",
+    "Use the dual arm to place the hand-sized bread block and the golden baked bread into the medium breadbasket with perforated sides.",
+    "Shift the doughy and soft bread and the bread with rounded edges into the beige basket with white grid design",
+    "Take the doughy and soft bread and the bread with rounded edges to the beige breadbasket",
+    "Grab both the cuboid bread and the bread with soft texture with the dual arm and place in the basket for carrying bread beige.",
+    "Place the soft bread and the soft square bread in the oval perforated breadbasket white edges using the dual arm",
+    "Take the soft bread and the sponge-textured golden bread, place them inside the medium plastic breadbasket oval shape.",
+    "Lift the soft bread and the golden brown bread with two arms, put in the basket for bread beige plastic.",
+    "Pick up both the light golden brown bread and the rounded square loaf, then place them in the beige plastic breadbasket.",
+    "Grab two breads the light golden brown bread and the sponge-textured golden bread and place in the beige breadbasket.",
+    "Simultaneously use the dual arm to drop the soft bread and the medium-sized bread piece in the medium plastic breadbasket oval shape.",
+    "Use both arms to move the soft bread, the rounded square loaf to the basket for carrying bread beige.",
+    "Take the doughy and soft bread and the medium-sized bread piece together and place them into the medium plastic breadbasket oval shape.",
+    "Grab both the bread block with light patches and the sponge-textured golden bread, drop into the beige plastic breadbasket.",
+    "Use two arms and set the golden bread loaf, the medium-sized bread piece in the smooth textured breadbasket.",
+    "Pick the golden bread and the golden baked bread for the the beige breadbasket",
+    "Simultaneously grab the bread loaf with uneven edges and the soft square bread using the dual arm, then drop them in the white oval breadbasket.",
+    "Put the hand-sized bread block and the golden brown bread into the beige breadbasket using two arms.",
+    "Grab the bread loaf with bumpy surface and the bread with soft texture quickly and drop them into the smooth textured breadbasket.",
+    "Take the soft bread and the fluffy baked bread then place in the beige basket with white grid design.",
+    "Pick the golden bread loaf and the fluffy baked bread and set them in the oval perforated breadbasket white edges.",
+    "Move the golden bread and the light brown porous bread to the beige basket with white grid design",
+    "Lift the soft bread and the medium-sized bread piece at once with the dual arm, then set them in the medium oval basket for bread.",
+    "Simultaneously grab the light golden brown bread and the light brown porous bread, drop in the basket for bread beige plastic.",
+    "Pick the golden bread loaf and the soft square bread, place them in the medium oval basket for bread.",
+    "Shift the square-shaped bread and the square-shaped bread piece together to the white oval breadbasket.",
+    "Move the doughy and soft bread and the square-shaped bread piece at once into the smooth textured breadbasket.",
+    "Use the dual arm to place the hand-sized bread block and the rounded square loaf into the smooth textured breadbasket.",
+    "Shift the doughy and soft bread and the bread with soft texture into the beige plastic breadbasket",
+    "Take the doughy and soft bread and the fluffy baked bread to the beige plastic breadbasket",
+    "Grab both the cuboid bread and the bread with rounded edges with the dual arm and place in the medium oval basket for bread.",
+    "Place the soft bread and the rounded square loaf in the white oval breadbasket using the dual arm",
+    "Take the bread loaf with bumpy surface and the sponge-textured golden bread, place them inside the smooth textured breadbasket.",
+    "Lift the cuboid bread and the rounded square loaf with two arms, put in the beige basket with white grid design.",
+    "Pick up both the doughy and soft bread and the rounded square loaf, then place them in the beige plastic breadbasket.",
+    "Grab two breads the bread block with light patches and the medium bread with rounded sides and place in the beige plastic breadbasket.",
+    "Simultaneously use the dual arm to drop the hand-sized bread block and the medium bread with rounded sides in the beige plastic breadbasket.",
+    "Use both arms to move the soft bread, the medium-sized bread piece to the smooth textured breadbasket.",
+    "Take the cuboid bread and the medium bread with rounded sides together and place them into the medium oval basket for bread.",
+    "Grab both the hand-sized bread block and the medium bread with rounded sides, drop into the smooth textured breadbasket.",
+    "Use two arms and set the golden bread, the golden baked bread in the medium plastic breadbasket oval shape.",
+    "Pick the bread block with light patches and the fluffy baked bread for the the medium breadbasket with perforated sides",
+    "Simultaneously grab the light golden brown bread and the medium bread with rounded sides using the dual arm, then drop them in the beige breadbasket.",
+    "Put the bread with rough texture and the light brown porous bread into the oval-shaped breadbasket using two arms.",
+    "Grab the hand-sized bread block and the soft square bread quickly and drop them into the beige basket with white grid design.",
+    "Take the golden bread and the fluffy baked bread then place in the medium breadbasket with perforated sides.",
+    "Pick the bread loaf with uneven edges and the medium bread with rounded sides and set them in the beige plastic breadbasket.",
+    "Move the hand-sized bread block and the golden baked bread to the beige breadbasket",
+    "Lift the bread loaf with uneven edges and the bread with rounded edges at once with the dual arm, then set them in the smooth textured breadbasket.",
+    "Simultaneously grab the square-shaped bread and the bread with soft texture, drop in the white oval breadbasket.",
+    "Pick the golden bread loaf and the light brown porous bread, place them in the beige breadbasket.",
+    "Shift the square-shaped bread and the square-shaped bread piece together to the beige plastic breadbasket.",
+    "Move the bread loaf with bumpy surface and the golden brown bread at once into the medium plastic breadbasket oval shape.",
+    "Use the dual arm to place the bread loaf with bumpy surface and the light brown porous bread into the medium oval basket for bread.",
+    "Shift the square-shaped bread and the light brown porous bread into the basket for bread beige plastic",
+    "Take the doughy and soft bread and the bread with rounded edges to the basket for bread beige plastic",
+    "Grab both the cuboid bread and the medium bread with rounded sides with the dual arm and place in the beige plastic breadbasket.",
+    "Place the soft bread and the rounded square loaf in the oval perforated breadbasket white edges using the dual arm",
+    "Take the bread loaf with uneven edges and the bread with soft texture, place them inside the oval perforated breadbasket white edges.",
+    "Lift the bread loaf with bumpy surface and the light brown porous bread with two arms, put in the oval-shaped breadbasket.",
+    "Pick up both the cuboid bread and the bread with rounded edges, then place them in the white oval breadbasket.",
+    "Grab two breads the soft bread and the fluffy baked bread and place in the beige plastic breadbasket.",
+    "Simultaneously use the dual arm to drop the golden bread loaf and the golden brown bread in the white oval breadbasket.",
+    "Use both arms to move the light golden brown bread, the soft square bread to the medium breadbasket with perforated sides.",
+    "Take the bread block with light patches and the golden baked bread together and place them into the basket for carrying bread beige.",
+    "Grab both the soft bread and the golden brown bread, drop into the medium breadbasket with perforated sides.",
+    "Use two arms and set the doughy and soft bread, the golden brown bread in the smooth textured breadbasket.",
+    "Pick the square-shaped bread and the sponge-textured golden bread for the the beige breadbasket",
+    "Simultaneously grab the light golden brown bread and the bread with rounded edges using the dual arm, then drop them in the basket for carrying bread beige.",
+    "Put the bread loaf with bumpy surface and the medium-sized bread piece into the beige breadbasket using two arms.",
+    "Grab the square-shaped bread and the square-shaped bread piece quickly and drop them into the beige breadbasket.",
+    "Take the golden bread and the golden baked bread then place in the medium oval basket for bread."
+  ],
+  "unseen": [
+    "Grab the bread with golden crust and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the bread loaf with soft surface and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Use one arm to grab the bread with golden crust and the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the white basket with beige bottom.",
+    "Pick the bread loaf with soft surface and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface and the square bread with light spots into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the rectangular bread loaf and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the rectangular bread loaf and the square bread with light spots, then place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the rectangular bread loaf and the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rectangular bread loaf and the square bread with light spots, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and the square bread with light spots and put them in the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the rectangular bread loaf and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the white basket with beige bottom.",
+    "Use one arm to grab the bread with golden crust and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Place the rectangular bread loaf and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the rectangular bread loaf and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the bread loaf with soft surface and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread loaf with soft surface and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Pick the bread loaf with soft surface and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Place the bread with golden crust and the square bread with light spots into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the bread with golden crust and the spongy golden brown bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the rectangular bread loaf and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the rectangular bread loaf and the spongy golden brown bread and place in the white basket with beige bottom.",
+    "Use one arm to grab the rectangular bread loaf and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and put them in the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and the soft bread with golden edges and place them in the breadbasket with hollowed white walls.",
+    "Place the rectangular bread loaf and the soft bread with golden edges into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the rectangular bread loaf and the square bread with light spots with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the rectangular bread loaf and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Grab the bread with golden crust and the soft bread with golden edges and put them in the breadbasket with hollowed white walls.",
+    "Pick the bread loaf with soft surface and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust and the square bread with light spots into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the rectangular bread loaf and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the bread loaf with soft surface and the square bread with light spots and place in the white basket with beige bottom.",
+    "Use one arm to grab the bread with golden crust and the square bread with light spots, drop in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the bread with golden crust and the soft bread with golden edges and place them in the breadbasket with smooth bottom grid sides.",
+    "Place the bread with golden crust and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the rectangular bread loaf and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the square bread with light spots and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the bread with golden crust and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Use one arm to grab the bread with golden crust and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface and the square bread with light spots into the white basket with beige bottom using the dual arm",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the rectangular bread loaf and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the rectangular bread loaf and the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread with golden crust and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the breadbasket with smooth bottom grid sides.",
+    "Place the bread loaf with soft surface and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread with golden crust and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Place the bread loaf with soft surface and the spongy golden brown bread into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the rectangular bread loaf and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the bread with golden crust and the square bread with light spots and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the bread with golden crust and the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread with golden crust and the square bread with light spots, drop in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and put them in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and the square bread with light spots and place them in the breadbasket with smooth bottom grid sides.",
+    "Place the rectangular bread loaf and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the breadbasket with smooth bottom grid sides."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode18.json b/place_bread_basket/demo_clean/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..66472fe7b1dfeefca4f3792ef2e8ca2963a61a24
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bread with soft texture and the small bread then place in the breadbasket for bread storage.",
+    "Simultaneously grab the soft square bread and the bread with golden crust using the right arm, then drop them in the textured beige breadbasket.",
+    "Shift the bread with soft texture and the soft golden bread together to the woven light beige breadbasket.",
+    "Pick up both the golden baked bread and the small bread, then place them in the beige breadbasket.",
+    "Simultaneously grab the medium-sized bread piece and the bread with golden crust, drop in the plastic breadbasket with mesh sides.",
+    "Take the golden baked bread and the round bread with crusty texture, place them inside the textured beige breadbasket.",
+    "Use the right arm to place the rounded square loaf and the soft doughy bread into the medium rectangular breadbasket.",
+    "Place the sponge-textured golden bread and the smooth crusty small bread in the beige breadbasket for holding bread using the right arm",
+    "Pick the soft square bread and the golden bread loaf with soft inside and set them in the medium rectangular breadbasket.",
+    "Shift the medium-sized bread piece and the smooth crusty small bread into the breadbasket with textured sides",
+    "Use both arms to move the golden baked bread, the smooth crusty small bread to the rectangular breadbasket.",
+    "Grab the golden brown bread and the golden brown bread with braided design quickly and drop them into the plastic mesh breadbasket.",
+    "Use two arms and set the bread with soft texture, the golden bread loaf with soft inside in the plastic breadbasket with mesh sides.",
+    "Put the bread with rounded edges and the round bread with crusty texture into the plastic mesh breadbasket using two arms.",
+    "Take the fluffy baked bread and the smooth crusty small bread together and place them into the textured beige breadbasket.",
+    "Take the bread with rounded edges and the round bread with braided top to the textured beige breadbasket",
+    "Pick the light brown porous bread and the golden brown bread with braided design for the the light and textured breadbasket",
+    "Grab both the medium-sized bread piece and the small golden baked bread, drop into the medium rectangular breadbasket.",
+    "Lift the fluffy baked bread and the round bread with crusty texture at once with the right arm, then set them in the light beige rectangular breadbasket.",
+    "Pick the light brown porous bread and the golden brown bread with braided design, place them in the plastic mesh breadbasket.",
+    "Move the medium-sized bread piece and the smooth crusty small bread at once into the beige breadbasket.",
+    "Simultaneously use the right arm to drop the square-shaped bread piece and the small bread in the rectangular breadbasket.",
+    "Grab two breads the medium bread with rounded sides and the golden bread loaf with soft inside and place in the rectangular breadbasket.",
+    "Lift the golden baked bread and the soft golden bread with two arms, put in the rectangular breadbasket.",
+    "Move the golden baked bread and the small golden baked bread to the breadbasket for bread storage",
+    "Grab both the golden brown bread and the soft doughy bread with the right arm and place in the plastic breadbasket with mesh sides.",
+    "Take the medium bread with rounded sides and the soft golden bread then place in the breadbasket for bread storage.",
+    "Simultaneously grab the bread with rounded edges and the bread with golden crust using the right arm, then drop them in the textured beige breadbasket.",
+    "Shift the light brown porous bread and the round bread with crusty texture together to the medium rectangular breadbasket.",
+    "Pick up both the rounded square loaf and the round bread with braided top, then place them in the medium rectangular breadbasket.",
+    "Simultaneously grab the soft square bread and the round bread with braided top, drop in the rectangular breadbasket.",
+    "Take the medium-sized bread piece and the bread with golden crust, place them inside the light and textured breadbasket.",
+    "Use the right arm to place the bread with soft texture and the braided bread loaf into the light beige rectangular breadbasket.",
+    "Place the sponge-textured golden bread and the golden brown bread with braided design in the breadbasket with textured sides using the right arm",
+    "Pick the fluffy baked bread and the small golden baked bread and set them in the breadbasket with textured sides.",
+    "Shift the rounded square loaf and the round bread with crusty texture into the light and textured breadbasket",
+    "Use both arms to move the medium bread with rounded sides, the golden brown bread with braided design to the woven light beige breadbasket.",
+    "Grab the rounded square loaf and the round bread with braided top quickly and drop them into the breadbasket with textured sides.",
+    "Use two arms and set the medium bread with rounded sides, the golden brown bread in the beige breadbasket for holding bread.",
+    "Put the rounded square loaf and the small golden baked bread into the beige breadbasket using two arms.",
+    "Take the golden brown bread and the smooth crusty small bread together and place them into the light beige rectangular breadbasket.",
+    "Take the medium bread with rounded sides and the bread with golden crust to the woven light beige breadbasket",
+    "Pick the sponge-textured golden bread and the soft golden bread for the the rectangular breadbasket",
+    "Grab both the fluffy baked bread and the braided bread loaf, drop into the medium rectangular breadbasket.",
+    "Lift the light brown porous bread and the smooth crusty small bread at once with the right arm, then set them in the beige breadbasket for holding bread.",
+    "Pick the medium-sized bread piece and the smooth crusty small bread, place them in the plastic mesh breadbasket.",
+    "Move the medium-sized bread piece and the golden brown bread at once into the breadbasket for bread storage.",
+    "Simultaneously use the right arm to drop the soft square bread and the golden bread loaf with soft inside in the beige breadbasket.",
+    "Grab two breads the light brown porous bread and the small golden baked bread and place in the breadbasket with textured sides.",
+    "Lift the square-shaped bread piece and the braided bread loaf with two arms, put in the light beige rectangular breadbasket.",
+    "Move the sponge-textured golden bread and the soft doughy bread to the plastic mesh breadbasket",
+    "Grab both the golden brown bread and the golden brown bread with braided design with the right arm and place in the medium rectangular breadbasket.",
+    "Take the light brown porous bread and the golden brown bread then place in the beige breadbasket for holding bread.",
+    "Simultaneously grab the golden brown bread and the round bread with crusty texture using the right arm, then drop them in the textured beige breadbasket.",
+    "Shift the golden brown bread and the golden bread loaf with soft inside together to the breadbasket with textured sides.",
+    "Pick up both the medium bread with rounded sides and the small bread, then place them in the plastic mesh breadbasket.",
+    "Simultaneously grab the rounded square loaf and the soft doughy bread, drop in the beige breadbasket.",
+    "Take the square-shaped bread piece and the braided bread loaf, place them inside the woven light beige breadbasket.",
+    "Use the right arm to place the golden baked bread and the braided bread loaf into the rectangular breadbasket.",
+    "Place the fluffy baked bread and the golden bread loaf with soft inside in the textured beige breadbasket using the right arm",
+    "Pick the bread with rounded edges and the round bread with crusty texture and set them in the light beige rectangular breadbasket.",
+    "Shift the square-shaped bread piece and the small bread into the breadbasket for bread storage",
+    "Use both arms to move the golden brown bread, the golden brown bread to the beige breadbasket.",
+    "Grab the bread with soft texture and the round bread with braided top quickly and drop them into the beige breadbasket for holding bread.",
+    "Use two arms and set the light brown porous bread, the small bread in the breadbasket with textured sides.",
+    "Put the bread with rounded edges and the soft doughy bread into the textured beige breadbasket using two arms.",
+    "Take the rounded square loaf and the golden brown bread together and place them into the rectangular breadbasket.",
+    "Take the square-shaped bread piece and the soft doughy bread to the medium rectangular breadbasket",
+    "Pick the golden baked bread and the round bread with braided top for the the plastic breadbasket with mesh sides",
+    "Grab both the medium-sized bread piece and the small golden baked bread, drop into the medium rectangular breadbasket.",
+    "Lift the rounded square loaf and the small bread at once with the right arm, then set them in the plastic mesh breadbasket.",
+    "Pick the sponge-textured golden bread and the soft doughy bread, place them in the woven light beige breadbasket.",
+    "Move the light brown porous bread and the smooth crusty small bread at once into the beige breadbasket.",
+    "Simultaneously use the right arm to drop the bread with rounded edges and the golden brown bread in the breadbasket with textured sides.",
+    "Grab two breads the fluffy baked bread and the golden brown bread with braided design and place in the rectangular breadbasket.",
+    "Lift the rounded square loaf and the round bread with braided top with two arms, put in the plastic mesh breadbasket.",
+    "Move the soft square bread and the smooth crusty small bread to the medium rectangular breadbasket",
+    "Grab both the bread with soft texture and the soft doughy bread with the right arm and place in the medium rectangular breadbasket.",
+    "Take the rounded square loaf and the round bread with crusty texture then place in the plastic breadbasket with mesh sides.",
+    "Simultaneously grab the soft square bread and the golden bread loaf with soft inside using the right arm, then drop them in the light beige rectangular breadbasket.",
+    "Shift the bread with soft texture and the golden bread loaf with soft inside together to the breadbasket for bread storage.",
+    "Pick up both the soft square bread and the golden brown bread with braided design, then place them in the beige breadbasket.",
+    "Simultaneously grab the medium-sized bread piece and the golden bread loaf with soft inside, drop in the woven light beige breadbasket.",
+    "Take the square-shaped bread piece and the smooth crusty small bread, place them inside the plastic mesh breadbasket.",
+    "Use the right arm to place the medium bread with rounded sides and the round bread with crusty texture into the rectangular breadbasket.",
+    "Place the medium bread with rounded sides and the smooth crusty small bread in the plastic breadbasket with mesh sides using the right arm",
+    "Pick the rounded square loaf and the bread with golden crust and set them in the rectangular breadbasket.",
+    "Shift the fluffy baked bread and the round bread with braided top into the beige breadbasket",
+    "Use both arms to move the medium-sized bread piece, the round bread with braided top to the textured beige breadbasket.",
+    "Grab the soft square bread and the braided bread loaf quickly and drop them into the breadbasket with textured sides.",
+    "Use two arms and set the bread with rounded edges, the golden bread loaf with soft inside in the rectangular breadbasket.",
+    "Put the medium bread with rounded sides and the golden bread loaf with soft inside into the breadbasket for bread storage using two arms.",
+    "Take the golden baked bread and the braided bread loaf together and place them into the woven light beige breadbasket.",
+    "Take the soft square bread and the round bread with braided top to the plastic breadbasket with mesh sides",
+    "Pick the golden brown bread and the soft golden bread for the the plastic breadbasket with mesh sides",
+    "Grab both the bread with rounded edges and the golden brown bread with braided design, drop into the beige breadbasket for holding bread.",
+    "Lift the bread with rounded edges and the small golden baked bread at once with the right arm, then set them in the plastic breadbasket with mesh sides.",
+    "Pick the medium-sized bread piece and the small bread, place them in the beige breadbasket.",
+    "Move the light brown porous bread and the golden bread loaf with soft inside at once into the woven light beige breadbasket.",
+    "Simultaneously use the right arm to drop the sponge-textured golden bread and the smooth crusty small bread in the beige breadbasket."
+  ],
+  "unseen": [
+    "Grab the spongy golden brown bread and the braided top round bread and put them in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the round braided loaf and drop them into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the round braided loaf and drop it into the woven shallow breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the round braided loaf, drop in the woven shallow breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and the braided top round bread and place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the braided top round bread with two arms, place in the breadbasket with woven pattern.",
+    "Place the spongy golden brown bread and the braided top round bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the square bread with light spots and the braided top round bread and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges and the palm-sized braided golden bread, then place them in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the braided top round bread and put them in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the braided top round bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the braided top round bread and drop it into the breadbasket with woven pattern.",
+    "Use one arm to grab the square bread with light spots and the round braided loaf, drop in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and the round braided loaf and place in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the palm-sized braided golden bread with two arms, place in the shallow rectangular breadbasket.",
+    "Place the square bread with light spots and the braided top round bread into the woven shallow breadbasket using the right arm",
+    "Pick the soft bread with golden edges and the palm-sized braided golden bread and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the spongy golden brown bread and the round braided loaf, then place them in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the braided top round bread and put them in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the braided top round bread and drop them into the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the palm-sized braided golden bread and drop it into the breadbasket with woven pattern.",
+    "Use one arm to grab the spongy golden brown bread and the round braided loaf, drop in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the square bread with light spots and the braided top round bread and place in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the round braided loaf with two arms, place in the woven shallow breadbasket.",
+    "Place the spongy golden brown bread and the palm-sized braided golden bread into the woven shallow breadbasket using the right arm",
+    "Pick the spongy golden brown bread and the braided top round bread and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the spongy golden brown bread and the round braided loaf, then place them in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the round braided loaf and put them in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the palm-sized braided golden bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the braided top round bread and drop it into the breadbasket with woven pattern.",
+    "Use one arm to grab the soft bread with golden edges and the braided top round bread, drop in the breadbasket with woven pattern.",
+    "Use the right arm to pick the soft bread with golden edges and the palm-sized braided golden bread and place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the palm-sized braided golden bread with two arms, place in the woven shallow breadbasket.",
+    "Place the soft bread with golden edges and the braided top round bread into the breadbasket with woven pattern using the right arm",
+    "Pick the square bread with light spots and the palm-sized braided golden bread and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the square bread with light spots and the braided top round bread, then place them in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the braided top round bread and put them in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the palm-sized braided golden bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the round braided loaf and drop it into the shallow rectangular breadbasket.",
+    "Use one arm to grab the square bread with light spots and the palm-sized braided golden bread, drop in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the square bread with light spots and the round braided loaf and place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the palm-sized braided golden bread with two arms, place in the breadbasket with woven pattern.",
+    "Place the square bread with light spots and the palm-sized braided golden bread into the woven shallow breadbasket using the right arm",
+    "Pick the spongy golden brown bread and the round braided loaf and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the soft bread with golden edges and the palm-sized braided golden bread, then place them in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the palm-sized braided golden bread and put them in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the palm-sized braided golden bread and drop them into the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the palm-sized braided golden bread and drop it into the breadbasket with woven pattern.",
+    "Use one arm to grab the spongy golden brown bread and the round braided loaf, drop in the woven shallow breadbasket.",
+    "Use the right arm to pick the square bread with light spots and the palm-sized braided golden bread and place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the round braided loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Place the square bread with light spots and the palm-sized braided golden bread into the breadbasket with woven pattern using the right arm",
+    "Pick the square bread with light spots and the round braided loaf and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the square bread with light spots and the round braided loaf, then place them in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the palm-sized braided golden bread and put them in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the round braided loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the palm-sized braided golden bread and drop it into the breadbasket with woven pattern.",
+    "Use one arm to grab the square bread with light spots and the round braided loaf, drop in the breadbasket with woven pattern.",
+    "Use the right arm to pick the soft bread with golden edges and the round braided loaf and place in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the round braided loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges and the braided top round bread into the woven shallow breadbasket using the right arm",
+    "Pick the square bread with light spots and the round braided loaf and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread and the round braided loaf, then place them in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the round braided loaf and put them in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the palm-sized braided golden bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the round braided loaf and drop it into the woven shallow breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the palm-sized braided golden bread, drop in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the square bread with light spots and the braided top round bread and place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the braided top round bread with two arms, place in the breadbasket with woven pattern.",
+    "Place the soft bread with golden edges and the braided top round bread into the woven shallow breadbasket using the right arm",
+    "Pick the spongy golden brown bread and the round braided loaf and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges and the braided top round bread, then place them in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the round braided loaf and put them in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the round braided loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the palm-sized braided golden bread and drop it into the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the braided top round bread, drop in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and the round braided loaf and place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the round braided loaf with two arms, place in the breadbasket with woven pattern.",
+    "Place the square bread with light spots and the palm-sized braided golden bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the square bread with light spots and the palm-sized braided golden bread and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the square bread with light spots and the palm-sized braided golden bread, then place them in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the round braided loaf and put them in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the palm-sized braided golden bread and drop them into the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the round braided loaf and drop it into the woven shallow breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the palm-sized braided golden bread, drop in the woven shallow breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and the palm-sized braided golden bread and place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the palm-sized braided golden bread with two arms, place in the breadbasket with woven pattern.",
+    "Place the square bread with light spots and the palm-sized braided golden bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the soft bread with golden edges and the braided top round bread and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread and the palm-sized braided golden bread, then place them in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the braided top round bread and put them in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the palm-sized braided golden bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the round braided loaf and drop it into the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the braided top round bread, drop in the woven shallow breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and the palm-sized braided golden bread and place in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the round braided loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Place the spongy golden brown bread and the round braided loaf into the shallow rectangular breadbasket using the right arm",
+    "Pick the spongy golden brown bread and the round braided loaf and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread and the palm-sized braided golden bread, then place them in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the palm-sized braided golden bread and put them in the shallow rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode19.json b/place_bread_basket/demo_clean/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..5138c2bda2aaa5566d0207b5f279007cf534cc89
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the bread block with light patches and the bread with golden-brown crust to the breadbasket made of woven wood",
+    "Shift the golden bread and the brown loaf together to the breadbasket made of woven wood.",
+    "Simultaneously grab the doughy and soft bread and the bread with golden-brown crust using the dual arm, then drop them in the breadbasket made of woven wood.",
+    "Grab both the bread loaf with bumpy surface and the small loaf with curved top with the dual arm and place in the wooden breadbasket.",
+    "Take the cuboid bread and the small golden brown bread then place in the breadbasket made of woven wood.",
+    "Grab two breads the doughy and soft bread and the hand-sized oval loaf and place in the palm-sized breadbasket.",
+    "Simultaneously grab the bread loaf with bumpy surface and the soft brown bread, drop in the breadbasket shaped like a bowl.",
+    "Place the bread with rough texture and the bread with warm golden color in the round breadbasket using the dual arm",
+    "Pick up both the golden bread loaf and the bread with warm golden color, then place them in the round breadbasket.",
+    "Put the doughy and soft bread and the golden bread loaf into the smooth beige breadbasket using two arms.",
+    "Pick the bread loaf with bumpy surface and the soft brown bread and set them in the palm-sized breadbasket.",
+    "Use the dual arm to place the cuboid bread and the brown loaf into the spiral ridged breadbasket.",
+    "Grab the hand-sized bread block and the light brown bread with ridges quickly and drop them into the smooth beige breadbasket.",
+    "Lift the doughy and soft bread and the small loaf with curved top with two arms, put in the round breadbasket.",
+    "Take the square-shaped bread and the hand-sized oval loaf, place them inside the medium breadbasket.",
+    "Grab both the bread loaf with bumpy surface and the golden bread loaf, drop into the spiral ridged breadbasket.",
+    "Lift the cuboid bread and the soft brown bread at once with the dual arm, then set them in the breadbasket with flat base.",
+    "Move the bread loaf with bumpy surface and the golden bread loaf at once into the breadbasket made of woven wood.",
+    "Pick the golden bread and the small golden brown bread for the the spiral ridged breadbasket",
+    "Take the cuboid bread and the light brown bread with ridges together and place them into the breadbasket with flat base.",
+    "Use both arms to move the golden bread loaf, the hand-sized oval loaf to the spiral ridged breadbasket.",
+    "Pick the bread loaf with bumpy surface and the light brown loaf with smooth sides, place them in the breadbasket with spiral lines.",
+    "Simultaneously use the dual arm to drop the bread loaf with bumpy surface and the bread with golden-brown crust in the breadbasket with flat base.",
+    "Take the soft bread and the light brown loaf with smooth sides to the breadbasket for dough",
+    "Shift the soft bread and the brown loaf into the round breadbasket",
+    "Use two arms and set the hand-sized bread block, the smooth loaf with rounded edges in the breadbasket made of woven wood.",
+    "Move the golden bread loaf and the light brown loaf with smooth sides to the breadbasket with flat base",
+    "Shift the square-shaped bread and the golden bread loaf together to the breadbasket for dough.",
+    "Simultaneously grab the doughy and soft bread and the brown loaf using the dual arm, then drop them in the palm-sized breadbasket.",
+    "Grab both the golden bread loaf and the small golden brown bread with the dual arm and place in the wooden breadbasket.",
+    "Take the square-shaped bread and the brown loaf then place in the medium breadbasket.",
+    "Grab two breads the hand-sized bread block and the light brown bread with ridges and place in the round breadbasket.",
+    "Simultaneously grab the bread with rough texture and the soft brown bread, drop in the spiral ridged breadbasket.",
+    "Place the light golden brown bread and the hand-sized oval loaf in the spiral ridged breadbasket using the dual arm",
+    "Pick up both the light golden brown bread and the soft brown bread, then place them in the breadbasket for dough.",
+    "Put the golden bread and the bread with warm golden color into the spiral ridged breadbasket using two arms.",
+    "Pick the golden bread and the soft brown bread and set them in the breadbasket shaped like a bowl.",
+    "Use the dual arm to place the hand-sized bread block and the bread with warm golden color into the round breadbasket.",
+    "Grab the bread block with light patches and the golden bread loaf quickly and drop them into the breadbasket for baking.",
+    "Lift the doughy and soft bread and the bread with golden-brown crust with two arms, put in the breadbasket for baking.",
+    "Take the bread with rough texture and the small loaf with curved top, place them inside the breadbasket shaped like a bowl.",
+    "Grab both the bread loaf with bumpy surface and the golden bread loaf, drop into the breadbasket shaped like a bowl.",
+    "Lift the doughy and soft bread and the golden bread loaf at once with the dual arm, then set them in the breadbasket for dough.",
+    "Move the soft bread and the bread with warm golden color at once into the breadbasket for baking.",
+    "Pick the bread block with light patches and the soft brown bread for the the breadbasket for dough",
+    "Take the bread loaf with uneven edges and the smooth loaf with rounded edges together and place them into the breadbasket shaped like a bowl.",
+    "Use both arms to move the golden bread, the golden bread loaf to the breadbasket with flat base.",
+    "Pick the bread block with light patches and the bread with golden-brown crust, place them in the medium breadbasket.",
+    "Simultaneously use the dual arm to drop the cuboid bread and the bread with golden-brown crust in the breadbasket for dough.",
+    "Take the soft bread and the small golden brown bread to the breadbasket with spiral lines",
+    "Shift the soft bread and the golden bread loaf into the breadbasket shaped like a bowl",
+    "Use two arms and set the square-shaped bread, the light brown bread with ridges in the breadbasket for dough.",
+    "Move the golden bread loaf and the small loaf with curved top to the breadbasket shaped like a bowl",
+    "Shift the soft bread and the bread with warm golden color together to the palm-sized breadbasket.",
+    "Simultaneously grab the light golden brown bread and the bread with warm golden color using the dual arm, then drop them in the breadbasket for baking.",
+    "Grab both the golden bread loaf and the hand-sized oval loaf with the dual arm and place in the medium breadbasket.",
+    "Take the doughy and soft bread and the bread with split top then place in the wooden breadbasket.",
+    "Grab two breads the golden bread loaf and the light brown loaf with smooth sides and place in the wooden breadbasket.",
+    "Simultaneously grab the square-shaped bread and the smooth loaf with rounded edges, drop in the breadbasket for dough.",
+    "Place the square-shaped bread and the bread with golden-brown crust in the spiral ridged breadbasket using the dual arm",
+    "Pick up both the golden bread loaf and the small loaf with curved top, then place them in the wooden breadbasket.",
+    "Put the soft bread and the hand-sized oval loaf into the palm-sized breadbasket using two arms.",
+    "Pick the golden bread and the golden bread loaf and set them in the breadbasket with flat base.",
+    "Use the dual arm to place the square-shaped bread and the soft brown bread into the smooth beige breadbasket.",
+    "Grab the cuboid bread and the bread with golden-brown crust quickly and drop them into the breadbasket for dough.",
+    "Lift the soft bread and the hand-sized oval loaf with two arms, put in the round breadbasket.",
+    "Take the doughy and soft bread and the small loaf with curved top, place them inside the breadbasket with flat base.",
+    "Grab both the bread loaf with bumpy surface and the smooth loaf with rounded edges, drop into the breadbasket for baking.",
+    "Lift the bread with rough texture and the bread with golden-brown crust at once with the dual arm, then set them in the breadbasket made of woven wood.",
+    "Move the doughy and soft bread and the soft brown bread at once into the breadbasket shaped like a bowl.",
+    "Pick the soft bread and the light brown loaf with smooth sides for the the palm-sized breadbasket",
+    "Take the hand-sized bread block and the light brown loaf with smooth sides together and place them into the medium breadbasket.",
+    "Use both arms to move the golden bread loaf, the bread with warm golden color to the breadbasket made of woven wood.",
+    "Pick the square-shaped bread and the soft brown bread, place them in the palm-sized breadbasket.",
+    "Simultaneously use the dual arm to drop the bread loaf with bumpy surface and the smooth loaf with rounded edges in the breadbasket for baking.",
+    "Take the bread block with light patches and the golden bread loaf to the smooth beige breadbasket",
+    "Shift the doughy and soft bread and the small golden brown bread into the palm-sized breadbasket",
+    "Use two arms and set the cuboid bread, the bread with split top in the breadbasket with spiral lines.",
+    "Move the bread loaf with bumpy surface and the brown loaf to the round breadbasket",
+    "Shift the hand-sized bread block and the bread with split top together to the round breadbasket.",
+    "Simultaneously grab the cuboid bread and the bread with warm golden color using the dual arm, then drop them in the breadbasket with flat base.",
+    "Grab both the soft bread and the golden bread loaf with the dual arm and place in the breadbasket with spiral lines.",
+    "Take the cuboid bread and the hand-sized oval loaf then place in the palm-sized breadbasket.",
+    "Grab two breads the hand-sized bread block and the soft brown bread and place in the wooden breadbasket.",
+    "Simultaneously grab the bread block with light patches and the bread with warm golden color, drop in the breadbasket shaped like a bowl.",
+    "Place the golden bread and the small loaf with curved top in the medium breadbasket using the dual arm",
+    "Pick up both the bread with rough texture and the bread with golden-brown crust, then place them in the medium breadbasket.",
+    "Put the bread loaf with bumpy surface and the small golden brown bread into the spiral ridged breadbasket using two arms.",
+    "Pick the soft bread and the hand-sized oval loaf and set them in the breadbasket with spiral lines.",
+    "Use the dual arm to place the bread with rough texture and the brown loaf into the breadbasket shaped like a bowl.",
+    "Grab the bread block with light patches and the small loaf with curved top quickly and drop them into the breadbasket made of woven wood.",
+    "Lift the cuboid bread and the bread with golden-brown crust with two arms, put in the smooth beige breadbasket.",
+    "Take the square-shaped bread and the brown loaf, place them inside the breadbasket for baking.",
+    "Grab both the bread with rough texture and the golden bread loaf, drop into the palm-sized breadbasket.",
+    "Lift the hand-sized bread block and the light brown loaf with smooth sides at once with the dual arm, then set them in the spiral ridged breadbasket.",
+    "Move the golden bread loaf and the golden bread loaf at once into the breadbasket for baking.",
+    "Pick the square-shaped bread and the small loaf with curved top for the the breadbasket for dough",
+    "Take the bread loaf with bumpy surface and the soft brown bread together and place them into the breadbasket for dough.",
+    "Use both arms to move the golden bread, the light brown loaf with smooth sides to the breadbasket with flat base.",
+    "Pick the golden bread loaf and the smooth loaf with rounded edges, place them in the breadbasket with flat base."
+  ],
+  "unseen": [
+    "Use the dual arm to pick up the bread with golden crust and the rounded oval bread, then place them in the round beige breadbasket.",
+    "Grab the rectangular bread loaf and the rounded oval bread and drop it into the beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Grab the bread with golden crust and the oval bread and drop them into the light wooden breadbasket.",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust and the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Pick the bread with golden crust and the oval bread and place them in the beige breadbasket.",
+    "Place the rectangular bread loaf and the oval-shaped soft bread into the round beige breadbasket using the dual arm",
+    "Grab the bread with golden crust and the oval-shaped soft bread and put them in the round beige breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the oval bread, then place them in the round beige breadbasket.",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and drop it into the round beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the oval bread and place in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the rounded oval bread and drop them into the light wooden breadbasket.",
+    "Grab the bread with golden crust and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the rounded oval bread, drop in the round beige breadbasket.",
+    "Pick the bread with golden crust and the rounded oval bread and place them in the round beige breadbasket.",
+    "Place the bread loaf with soft surface and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the bread with golden crust and the oval-shaped soft bread and put them in the light wooden breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the oval bread, then place them in the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and drop it into the light wooden breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the oval bread and place in the round beige breadbasket.",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread and drop them into the round beige breadbasket.",
+    "Grab the bread loaf with soft surface and the oval bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Pick the bread loaf with soft surface and the oval-shaped soft bread and place them in the light wooden breadbasket.",
+    "Place the bread loaf with soft surface and the oval bread into the round beige breadbasket using the dual arm",
+    "Grab the bread with golden crust and the oval bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Grab the rectangular bread loaf and the rounded oval bread and drop it into the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the rounded oval bread, drop in the beige breadbasket.",
+    "Pick the rectangular bread loaf and the oval bread and place them in the round beige breadbasket.",
+    "Place the rectangular bread loaf and the rounded oval bread into the round beige breadbasket using the dual arm",
+    "Grab the bread with golden crust and the oval bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the rounded oval bread, then place them in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the oval bread and place in the round beige breadbasket.",
+    "Grab the bread with golden crust and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Grab the bread with golden crust and the oval-shaped soft bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Pick the bread loaf with soft surface and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Place the bread loaf with soft surface and the oval-shaped soft bread into the beige breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the rounded oval bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the oval bread, then place them in the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the rounded oval bread and place in the round beige breadbasket.",
+    "Grab the bread with golden crust and the rounded oval bread and drop them into the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and the oval bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Pick the bread with golden crust and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Place the bread loaf with soft surface and the rounded oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and put them in the round beige breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the rounded oval bread, then place them in the round beige breadbasket.",
+    "Grab the bread loaf with soft surface and the rounded oval bread and drop it into the beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the oval bread, drop in the light wooden breadbasket.",
+    "Pick the bread loaf with soft surface and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Place the rectangular bread loaf and the oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the rounded oval bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the oval bread, then place them in the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and drop it into the light wooden breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the oval bread and place in the round beige breadbasket.",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and drop them into the round beige breadbasket.",
+    "Grab the rectangular bread loaf and the oval bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Pick the rectangular bread loaf and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Place the bread loaf with soft surface and the oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the oval bread and put them in the light wooden breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Grab the rectangular bread loaf and the oval bread and drop it into the round beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread and drop them into the light wooden breadbasket.",
+    "Grab the bread with golden crust and the oval bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the rounded oval bread, drop in the beige breadbasket.",
+    "Pick the bread loaf with soft surface and the oval bread and place them in the round beige breadbasket.",
+    "Place the bread loaf with soft surface and the rounded oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and put them in the round beige breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the rounded oval bread, then place them in the round beige breadbasket.",
+    "Grab the bread loaf with soft surface and the rounded oval bread and drop it into the beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the rounded oval bread and drop them into the beige breadbasket.",
+    "Grab the bread with golden crust and the oval-shaped soft bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the oval bread, drop in the beige breadbasket.",
+    "Pick the bread loaf with soft surface and the rounded oval bread and place them in the light wooden breadbasket.",
+    "Place the rectangular bread loaf and the oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the bread with golden crust and the rounded oval bread and put them in the round beige breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the rounded oval bread, then place them in the round beige breadbasket.",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and drop it into the round beige breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the rounded oval bread and place in the round beige breadbasket.",
+    "Grab the bread with golden crust and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the rounded oval bread, drop in the round beige breadbasket.",
+    "Pick the bread with golden crust and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Place the bread with golden crust and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread and put them in the light wooden breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the oval-shaped soft bread, then place them in the light wooden breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode2.json b/place_bread_basket/demo_clean/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..08aeb97b666928a160f45666f53fba7b5379fc2b
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bread loaf with bumpy surface and the square-shaped bread piece with two arms, put in the synthetic material breadbasket.",
+    "Take the cuboid bread and the golden brown bread, place them inside the medium oval breadbasket.",
+    "Pick the light golden brown bread and the medium bread with rounded sides and set them in the breadbasket for small food items.",
+    "Grab both the doughy and soft bread and the bread with soft texture with the dual arm and place in the medium oval breadbasket.",
+    "Simultaneously use the dual arm to drop the hand-sized bread block and the square-shaped bread piece in the basket with light brown weaving.",
+    "Simultaneously grab the hand-sized bread block and the golden brown bread using the dual arm, then drop them in the beige basket for holding bread.",
+    "Pick the light golden brown bread and the golden brown bread, place them in the beige basket for holding bread.",
+    "Simultaneously grab the soft bread and the rounded square loaf, drop in the woven plastic breadbasket.",
+    "Use two arms and set the bread with rough texture, the medium bread with rounded sides in the beige basket for holding bread.",
+    "Shift the doughy and soft bread and the fluffy baked bread into the basket with light brown weaving",
+    "Take the bread loaf with bumpy surface and the golden brown bread to the breadbasket with curved base",
+    "Shift the golden bread loaf and the medium bread with rounded sides together to the beige basket for holding bread.",
+    "Pick the doughy and soft bread and the sponge-textured golden bread for the the oval breadbasket",
+    "Take the light golden brown bread and the light brown porous bread together and place them into the light brown breadbasket.",
+    "Grab both the bread with rough texture and the sponge-textured golden bread, drop into the breadbasket with curved base.",
+    "Put the hand-sized bread block and the bread with rounded edges into the breadbasket for small food items using two arms.",
+    "Move the golden bread and the medium-sized bread piece to the oval breadbasket",
+    "Grab two breads the light golden brown bread and the medium bread with rounded sides and place in the light brown breadbasket.",
+    "Place the bread with rough texture and the square-shaped bread piece in the beige basket for holding bread using the dual arm",
+    "Grab the bread loaf with bumpy surface and the rounded square loaf quickly and drop them into the light brown breadbasket.",
+    "Take the bread loaf with uneven edges and the golden brown bread then place in the light brown breadbasket.",
+    "Use both arms to move the golden bread loaf, the sponge-textured golden bread to the oval basket for bread.",
+    "Lift the light golden brown bread and the light brown porous bread at once with the dual arm, then set them in the two-hand-sized breadbasket.",
+    "Move the light golden brown bread and the medium-sized bread piece at once into the light brown breadbasket.",
+    "Use the dual arm to place the light golden brown bread and the rounded square loaf into the basket with light brown weaving.",
+    "Pick up both the light golden brown bread and the rounded square loaf, then place them in the oval basket for bread.",
+    "Lift the hand-sized bread block and the rounded square loaf with two arms, put in the breadbasket for small food items.",
+    "Take the soft bread and the bread with rounded edges, place them inside the light brown breadbasket.",
+    "Pick the cuboid bread and the square-shaped bread piece and set them in the light brown breadbasket.",
+    "Grab both the bread block with light patches and the square-shaped bread piece with the dual arm and place in the two-hand-sized breadbasket.",
+    "Simultaneously use the dual arm to drop the bread loaf with bumpy surface and the soft square bread in the breadbasket for small food items.",
+    "Simultaneously grab the bread loaf with bumpy surface and the golden brown bread using the dual arm, then drop them in the smooth-textured breadbasket.",
+    "Pick the bread loaf with uneven edges and the bread with rounded edges, place them in the oval breadbasket.",
+    "Simultaneously grab the bread loaf with bumpy surface and the sponge-textured golden bread, drop in the smooth-textured breadbasket.",
+    "Use two arms and set the bread loaf with uneven edges, the fluffy baked bread in the beige basket for holding bread.",
+    "Shift the soft bread and the golden baked bread into the oval breadbasket",
+    "Take the cuboid bread and the soft square bread to the synthetic material breadbasket",
+    "Shift the light golden brown bread and the rounded square loaf together to the oval breadbasket.",
+    "Pick the doughy and soft bread and the bread with rounded edges for the the medium oval breadbasket",
+    "Take the doughy and soft bread and the fluffy baked bread together and place them into the medium oval breadbasket.",
+    "Grab both the doughy and soft bread and the bread with rounded edges, drop into the breadbasket for small food items.",
+    "Put the square-shaped bread and the light brown porous bread into the beige basket for holding bread using two arms.",
+    "Move the doughy and soft bread and the medium-sized bread piece to the oval basket for bread",
+    "Grab two breads the bread block with light patches and the bread with rounded edges and place in the breadbasket for small food items.",
+    "Place the soft bread and the rounded square loaf in the synthetic material breadbasket using the dual arm",
+    "Grab the golden bread loaf and the medium bread with rounded sides quickly and drop them into the two-hand-sized breadbasket.",
+    "Take the square-shaped bread and the rounded square loaf then place in the oval breadbasket.",
+    "Use both arms to move the bread loaf with bumpy surface, the medium-sized bread piece to the synthetic material breadbasket.",
+    "Lift the doughy and soft bread and the soft square bread at once with the dual arm, then set them in the breadbasket with curved base.",
+    "Move the bread loaf with bumpy surface and the square-shaped bread piece at once into the woven plastic breadbasket.",
+    "Use the dual arm to place the hand-sized bread block and the medium bread with rounded sides into the medium oval breadbasket.",
+    "Pick up both the cuboid bread and the medium-sized bread piece, then place them in the oval breadbasket.",
+    "Lift the bread loaf with uneven edges and the sponge-textured golden bread with two arms, put in the light brown breadbasket.",
+    "Take the bread loaf with bumpy surface and the soft square bread, place them inside the smooth-textured breadbasket.",
+    "Pick the bread with rough texture and the medium-sized bread piece and set them in the light brown breadbasket.",
+    "Grab both the cuboid bread and the golden baked bread with the dual arm and place in the breadbasket with curved base.",
+    "Simultaneously use the dual arm to drop the square-shaped bread and the rounded square loaf in the medium oval breadbasket.",
+    "Simultaneously grab the cuboid bread and the golden brown bread using the dual arm, then drop them in the synthetic material breadbasket.",
+    "Pick the golden bread loaf and the bread with rounded edges, place them in the basket with light brown weaving.",
+    "Simultaneously grab the bread loaf with uneven edges and the medium bread with rounded sides, drop in the breadbasket with curved base.",
+    "Use two arms and set the golden bread loaf, the rounded square loaf in the smooth-textured breadbasket.",
+    "Shift the cuboid bread and the rounded square loaf into the oval breadbasket",
+    "Take the golden bread and the light brown porous bread to the light brown breadbasket",
+    "Shift the golden bread loaf and the medium-sized bread piece together to the two-hand-sized breadbasket.",
+    "Pick the bread block with light patches and the light brown porous bread for the the oval breadbasket",
+    "Take the bread loaf with uneven edges and the golden brown bread together and place them into the oval basket for bread.",
+    "Grab both the bread loaf with bumpy surface and the sponge-textured golden bread, drop into the light brown breadbasket.",
+    "Put the golden bread loaf and the medium bread with rounded sides into the synthetic material breadbasket using two arms.",
+    "Move the golden bread loaf and the soft square bread to the breadbasket with curved base",
+    "Grab two breads the cuboid bread and the bread with soft texture and place in the beige basket for holding bread.",
+    "Place the square-shaped bread and the bread with rounded edges in the basket with light brown weaving using the dual arm",
+    "Grab the soft bread and the light brown porous bread quickly and drop them into the breadbasket with curved base.",
+    "Take the hand-sized bread block and the bread with rounded edges then place in the woven plastic breadbasket.",
+    "Use both arms to move the doughy and soft bread, the bread with soft texture to the medium oval breadbasket.",
+    "Lift the bread loaf with uneven edges and the medium bread with rounded sides at once with the dual arm, then set them in the light brown breadbasket.",
+    "Move the golden bread and the golden brown bread at once into the two-hand-sized breadbasket.",
+    "Use the dual arm to place the light golden brown bread and the light brown porous bread into the breadbasket with curved base.",
+    "Pick up both the square-shaped bread and the soft square bread, then place them in the medium oval breadbasket.",
+    "Lift the bread loaf with bumpy surface and the light brown porous bread with two arms, put in the breadbasket with curved base.",
+    "Take the cuboid bread and the medium-sized bread piece, place them inside the smooth-textured breadbasket.",
+    "Pick the cuboid bread and the rounded square loaf and set them in the oval breadbasket.",
+    "Grab both the golden bread and the soft square bread with the dual arm and place in the smooth-textured breadbasket.",
+    "Simultaneously use the dual arm to drop the doughy and soft bread and the medium bread with rounded sides in the breadbasket with curved base.",
+    "Simultaneously grab the bread loaf with uneven edges and the light brown porous bread using the dual arm, then drop them in the smooth-textured breadbasket.",
+    "Pick the cuboid bread and the rounded square loaf, place them in the light brown breadbasket.",
+    "Simultaneously grab the light golden brown bread and the golden baked bread, drop in the breadbasket for small food items.",
+    "Use two arms and set the hand-sized bread block, the sponge-textured golden bread in the medium oval breadbasket.",
+    "Shift the soft bread and the medium-sized bread piece into the basket with light brown weaving",
+    "Take the bread with rough texture and the square-shaped bread piece to the woven plastic breadbasket",
+    "Shift the hand-sized bread block and the square-shaped bread piece together to the two-hand-sized breadbasket.",
+    "Pick the bread with rough texture and the bread with soft texture for the the woven plastic breadbasket",
+    "Take the square-shaped bread and the square-shaped bread piece together and place them into the basket with light brown weaving.",
+    "Grab both the golden bread loaf and the sponge-textured golden bread, drop into the breadbasket for small food items.",
+    "Put the bread loaf with uneven edges and the sponge-textured golden bread into the basket with light brown weaving using two arms.",
+    "Move the doughy and soft bread and the bread with rounded edges to the beige basket for holding bread",
+    "Grab two breads the bread loaf with bumpy surface and the sponge-textured golden bread and place in the basket with light brown weaving.",
+    "Place the hand-sized bread block and the square-shaped bread piece in the synthetic material breadbasket using the dual arm",
+    "Grab the golden bread loaf and the light brown porous bread quickly and drop them into the synthetic material breadbasket.",
+    "Take the soft bread and the rounded square loaf then place in the oval breadbasket.",
+    "Use both arms to move the bread loaf with uneven edges, the rounded square loaf to the breadbasket for small food items."
+  ],
+  "unseen": [
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and put them in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread loaf with soft surface and the soft bread with golden edges and place in the beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the spongy golden brown bread, then place them in the medium-sized breadbasket.",
+    "Place the bread with golden crust and the square bread with light spots into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread with golden crust and the soft bread with golden edges with two arms, place in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and put them in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread with golden crust and the spongy golden brown bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the soft bread with golden edges, drop in the beige breadbasket.",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the beige breadbasket.",
+    "Place the bread with golden crust and the square bread with light spots into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the square bread with light spots with two arms, place in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the square bread with light spots and put them in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the square bread with light spots and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf with soft surface and the square bread with light spots, drop in the beige breadbasket.",
+    "Pick the bread with golden crust and the soft bread with golden edges and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the square bread with light spots, then place them in the breadbasket with ridged texture.",
+    "Place the rectangular bread loaf and the soft bread with golden edges into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and put them in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the square bread with light spots and drop them into the beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the square bread with light spots and place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the soft bread with golden edges, drop in the beige breadbasket.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the breadbasket with ridged texture.",
+    "Place the bread loaf with soft surface and the square bread with light spots into the breadbasket with ridged texture using the dual arm",
+    "Grab the rectangular bread loaf and the soft bread with golden edges with two arms, place in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rectangular bread loaf and the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf with soft surface and the spongy golden brown bread, drop in the breadbasket with ridged texture.",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the soft bread with golden edges, then place them in the medium-sized breadbasket.",
+    "Place the bread loaf with soft surface and the square bread with light spots into the beige breadbasket using the dual arm",
+    "Grab the bread with golden crust and the spongy golden brown bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf and the square bread with light spots and put them in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the square bread with light spots and drop them into the beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the square bread with light spots and place in the medium-sized breadbasket.",
+    "Use one arm to grab the bread with golden crust and the soft bread with golden edges, drop in the beige breadbasket.",
+    "Pick the bread with golden crust and the soft bread with golden edges and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the breadbasket with ridged texture.",
+    "Place the rectangular bread loaf and the square bread with light spots into the breadbasket with ridged texture using the dual arm",
+    "Grab the rectangular bread loaf and the spongy golden brown bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and put them in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop them into the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the soft bread with golden edges, then place them in the breadbasket with ridged texture.",
+    "Place the bread with golden crust and the square bread with light spots into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread loaf with soft surface and the square bread with light spots with two arms, place in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the square bread with light spots and put them in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the square bread with light spots and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust and the spongy golden brown bread, drop in the beige breadbasket.",
+    "Pick the rectangular bread loaf and the soft bread with golden edges and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the spongy golden brown bread, then place them in the breadbasket with ridged texture.",
+    "Place the rectangular bread loaf and the square bread with light spots into the beige breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the soft bread with golden edges with two arms, place in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and put them in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread loaf with soft surface and the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf with soft surface and the soft bread with golden edges, drop in the breadbasket with ridged texture.",
+    "Pick the rectangular bread loaf and the square bread with light spots and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Place the bread with golden crust and the square bread with light spots into the beige breadbasket using the dual arm",
+    "Grab the bread with golden crust and the square bread with light spots with two arms, place in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and put them in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the square bread with light spots and place in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Pick the bread loaf with soft surface and the square bread with light spots and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the beige breadbasket.",
+    "Place the rectangular bread loaf and the square bread with light spots into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges with two arms, place in the beige breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the soft bread with golden edges and put them in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the square bread with light spots and place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Pick the bread loaf with soft surface and the square bread with light spots and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the spongy golden brown bread, then place them in the breadbasket with ridged texture.",
+    "Place the bread loaf with soft surface and the square bread with light spots into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the square bread with light spots with two arms, place in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and put them in the breadbasket with ridged texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode20.json b/place_bread_basket/demo_clean/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..b96b356afef3fea47645d5f696a3322b2448fd7b
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the golden bread loaf and the light golden brown bread at once with the dual arm, then set them in the light brown wicker breadbasket.",
+    "Pick the golden bread loaf and the cuboid bread, place them in the brown breadbasket.",
+    "Shift the golden bread loaf and the bread block with light patches into the light brown basket for bread",
+    "Use the dual arm to place the golden bread and the bread loaf with uneven edges into the medium woven breadbasket.",
+    "Place the bread with rough texture and the bread loaf with bumpy surface in the breadbasket for holding bread using the dual arm",
+    "Take the light golden brown bread and the hand-sized bread block to the breadbasket with wicker weave pattern",
+    "Take the light golden brown bread and the cuboid bread together and place them into the light brown wicker breadbasket.",
+    "Shift the bread block with light patches and the cuboid bread together to the breadbasket for holding bread.",
+    "Pick the doughy and soft bread and the bread block with light patches for the the light brown basket for bread",
+    "Move the hand-sized bread block and the bread loaf with uneven edges at once into the medium-sized rectangular breadbasket.",
+    "Use both arms to move the bread with rough texture, the light golden brown bread to the breadbasket with wicker weave pattern.",
+    "Simultaneously grab the golden bread loaf and the bread loaf with uneven edges using the dual arm, then drop them in the breadbasket with wicker weave pattern.",
+    "Simultaneously use the dual arm to drop the bread loaf with uneven edges and the soft bread in the brown breadbasket with rounded corners.",
+    "Take the bread block with light patches and the bread loaf with uneven edges then place in the breadbasket with wicker weave pattern.",
+    "Put the bread block with light patches and the light golden brown bread into the woven rectangular breadbasket using two arms.",
+    "Move the square-shaped bread and the light golden brown bread to the light brown wicker breadbasket",
+    "Grab the bread block with light patches and the soft bread quickly and drop them into the woven rectangular breadbasket.",
+    "Grab both the bread loaf with uneven edges and the bread with rough texture with the dual arm and place in the breadbasket with smooth woven texture.",
+    "Lift the hand-sized bread block and the bread block with light patches with two arms, put in the brown breadbasket with rounded corners.",
+    "Grab both the soft bread and the cuboid bread, drop into the medium-sized rectangular breadbasket.",
+    "Pick up both the bread loaf with bumpy surface and the golden bread loaf, then place them in the breadbasket with smooth woven texture.",
+    "Grab two breads the bread block with light patches and the light golden brown bread and place in the brown breadbasket.",
+    "Take the soft bread and the golden bread loaf, place them inside the medium-sized rectangular breadbasket.",
+    "Simultaneously grab the light golden brown bread and the bread loaf with bumpy surface, drop in the brown breadbasket.",
+    "Use two arms and set the soft bread, the square-shaped bread in the breadbasket with smooth woven texture.",
+    "Pick the square-shaped bread and the doughy and soft bread and set them in the medium-sized rectangular breadbasket.",
+    "Lift the hand-sized bread block and the golden bread loaf at once with the dual arm, then set them in the smooth textured brown breadbasket.",
+    "Pick the soft bread and the cuboid bread, place them in the breadbasket with rounded edges.",
+    "Shift the bread loaf with uneven edges and the hand-sized bread block into the breadbasket with smooth woven texture",
+    "Use the dual arm to place the golden bread and the doughy and soft bread into the smooth textured brown breadbasket.",
+    "Place the square-shaped bread and the golden bread loaf in the breadbasket with smooth woven texture using the dual arm",
+    "Take the doughy and soft bread and the light golden brown bread to the breadbasket with wicker weave pattern",
+    "Take the hand-sized bread block and the light golden brown bread together and place them into the medium-sized rectangular breadbasket.",
+    "Shift the doughy and soft bread and the light golden brown bread together to the breadbasket with wicker weave pattern.",
+    "Pick the hand-sized bread block and the bread loaf with bumpy surface for the the woven rectangular breadbasket",
+    "Move the bread loaf with bumpy surface and the bread block with light patches at once into the medium-sized rectangular breadbasket.",
+    "Use both arms to move the cuboid bread, the bread loaf with bumpy surface to the light brown basket for bread.",
+    "Simultaneously grab the bread loaf with bumpy surface and the cuboid bread using the dual arm, then drop them in the brown breadbasket with rounded corners.",
+    "Simultaneously use the dual arm to drop the doughy and soft bread and the bread with rough texture in the breadbasket with smooth woven texture.",
+    "Take the bread block with light patches and the light golden brown bread then place in the breadbasket for holding bread.",
+    "Put the soft bread and the square-shaped bread into the breadbasket with smooth woven texture using two arms.",
+    "Move the soft bread and the bread loaf with uneven edges to the medium woven breadbasket",
+    "Grab the soft bread and the hand-sized bread block quickly and drop them into the brown breadbasket.",
+    "Grab both the soft bread and the hand-sized bread block with the dual arm and place in the light brown basket for bread.",
+    "Lift the soft bread and the soft bread with two arms, put in the smooth textured brown breadbasket.",
+    "Grab both the bread loaf with bumpy surface and the golden bread loaf, drop into the breadbasket with wicker weave pattern.",
+    "Pick up both the hand-sized bread block and the bread loaf with bumpy surface, then place them in the breadbasket for holding bread.",
+    "Grab two breads the soft bread and the square-shaped bread and place in the breadbasket with smooth woven texture.",
+    "Take the doughy and soft bread and the square-shaped bread, place them inside the breadbasket with smooth woven texture.",
+    "Simultaneously grab the soft bread and the golden bread loaf, drop in the woven rectangular breadbasket.",
+    "Use two arms and set the golden bread, the light golden brown bread in the brown breadbasket.",
+    "Pick the cuboid bread and the bread loaf with bumpy surface and set them in the medium woven breadbasket.",
+    "Lift the bread block with light patches and the hand-sized bread block at once with the dual arm, then set them in the breadbasket with rounded edges.",
+    "Pick the doughy and soft bread and the golden bread loaf, place them in the brown breadbasket.",
+    "Shift the cuboid bread and the square-shaped bread into the light brown wicker breadbasket",
+    "Use the dual arm to place the soft bread and the bread loaf with uneven edges into the light brown basket for bread.",
+    "Place the square-shaped bread and the hand-sized bread block in the light brown basket for bread using the dual arm",
+    "Take the hand-sized bread block and the golden bread to the medium woven breadbasket",
+    "Take the bread block with light patches and the bread block with light patches together and place them into the brown breadbasket.",
+    "Shift the bread loaf with uneven edges and the bread with rough texture together to the woven rectangular breadbasket.",
+    "Pick the golden bread loaf and the cuboid bread for the the smooth textured brown breadbasket",
+    "Move the cuboid bread and the light golden brown bread at once into the brown breadbasket.",
+    "Use both arms to move the doughy and soft bread, the hand-sized bread block to the medium woven breadbasket.",
+    "Simultaneously grab the hand-sized bread block and the square-shaped bread using the dual arm, then drop them in the breadbasket with rounded edges.",
+    "Simultaneously use the dual arm to drop the golden bread loaf and the light golden brown bread in the breadbasket for holding bread.",
+    "Take the golden bread and the soft bread then place in the smooth textured brown breadbasket.",
+    "Put the doughy and soft bread and the bread loaf with bumpy surface into the medium-sized rectangular breadbasket using two arms.",
+    "Move the bread loaf with uneven edges and the cuboid bread to the breadbasket with rounded edges",
+    "Grab the hand-sized bread block and the bread loaf with uneven edges quickly and drop them into the breadbasket with smooth woven texture.",
+    "Grab both the golden bread and the bread with rough texture with the dual arm and place in the brown breadbasket with rounded corners.",
+    "Lift the bread loaf with uneven edges and the hand-sized bread block with two arms, put in the light brown wicker breadbasket.",
+    "Grab both the golden bread and the bread loaf with uneven edges, drop into the breadbasket with rounded edges.",
+    "Pick up both the hand-sized bread block and the bread loaf with bumpy surface, then place them in the smooth textured brown breadbasket.",
+    "Grab two breads the square-shaped bread and the square-shaped bread and place in the light brown basket for bread.",
+    "Take the square-shaped bread and the hand-sized bread block, place them inside the breadbasket with smooth woven texture.",
+    "Simultaneously grab the hand-sized bread block and the bread block with light patches, drop in the breadbasket with wicker weave pattern.",
+    "Use two arms and set the hand-sized bread block, the hand-sized bread block in the smooth textured brown breadbasket.",
+    "Pick the bread loaf with bumpy surface and the square-shaped bread and set them in the breadbasket with smooth woven texture.",
+    "Lift the bread block with light patches and the soft bread at once with the dual arm, then set them in the woven rectangular breadbasket.",
+    "Pick the bread loaf with uneven edges and the square-shaped bread, place them in the light brown basket for bread.",
+    "Shift the light golden brown bread and the cuboid bread into the breadbasket with rounded edges",
+    "Use the dual arm to place the square-shaped bread and the cuboid bread into the light brown basket for bread.",
+    "Place the hand-sized bread block and the cuboid bread in the breadbasket with wicker weave pattern using the dual arm",
+    "Take the hand-sized bread block and the cuboid bread to the breadbasket with rounded edges",
+    "Take the golden bread and the hand-sized bread block together and place them into the light brown basket for bread.",
+    "Shift the light golden brown bread and the light golden brown bread together to the breadbasket with smooth woven texture.",
+    "Pick the bread with rough texture and the golden bread loaf for the the breadbasket with smooth woven texture",
+    "Move the bread loaf with uneven edges and the bread with rough texture at once into the light brown basket for bread.",
+    "Use both arms to move the bread block with light patches, the light golden brown bread to the breadbasket with rounded edges.",
+    "Simultaneously grab the bread with rough texture and the golden bread loaf using the dual arm, then drop them in the smooth textured brown breadbasket.",
+    "Simultaneously use the dual arm to drop the bread block with light patches and the golden bread in the medium-sized rectangular breadbasket.",
+    "Take the golden bread loaf and the hand-sized bread block then place in the breadbasket with rounded edges.",
+    "Put the square-shaped bread and the light golden brown bread into the woven rectangular breadbasket using two arms.",
+    "Move the bread loaf with uneven edges and the bread with rough texture to the brown breadbasket",
+    "Grab the hand-sized bread block and the golden bread quickly and drop them into the breadbasket with smooth woven texture.",
+    "Grab both the doughy and soft bread and the doughy and soft bread with the dual arm and place in the brown breadbasket with rounded corners.",
+    "Lift the bread loaf with bumpy surface and the golden bread with two arms, put in the breadbasket with rounded edges.",
+    "Grab both the bread loaf with uneven edges and the golden bread loaf, drop into the breadbasket with rounded edges.",
+    "Pick up both the cuboid bread and the bread loaf with bumpy surface, then place them in the brown breadbasket with rounded corners.",
+    "Grab two breads the golden bread and the soft bread and place in the light brown wicker breadbasket."
+  ],
+  "unseen": [
+    "Use the dual arm to pick the rectangular bread loaf and the bread loaf with soft surface and place in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and drop them into the rectangular breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and put them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread with golden crust and the bread loaf with soft surface, drop in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and drop it into the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface with two arms, place in the rectangular breadbasket.",
+    "Place the bread with golden crust and the bread with golden crust into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread with golden crust, then place them in the rectangular light brown breadbasket.",
+    "Pick the rectangular bread loaf and the bread with golden crust and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the bread loaf with soft surface and place in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and drop them into the medium light brown breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and put them in the rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust and the rectangular bread loaf, drop in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop it into the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface with two arms, place in the medium light brown breadbasket.",
+    "Place the rectangular bread loaf and the bread loaf with soft surface into the rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread with golden crust, then place them in the rectangular light brown breadbasket.",
+    "Pick the bread loaf with soft surface and the bread loaf with soft surface and place them in the medium light brown breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the bread with golden crust and place in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop them into the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and put them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the rectangular bread loaf, drop in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and drop it into the rectangular breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface with two arms, place in the rectangular breadbasket.",
+    "Place the bread with golden crust and the rectangular bread loaf into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread loaf with soft surface, then place them in the medium light brown breadbasket.",
+    "Pick the bread loaf with soft surface and the bread loaf with soft surface and place them in the medium light brown breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf with soft surface and place in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and drop them into the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and put them in the rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust and the bread with golden crust, drop in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop it into the rectangular light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the bread with golden crust with two arms, place in the medium light brown breadbasket.",
+    "Place the bread with golden crust and the bread with golden crust into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread with golden crust, then place them in the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the bread with golden crust and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the bread with golden crust and place in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop them into the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and put them in the medium light brown breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread with golden crust, drop in the rectangular breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and drop it into the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf with two arms, place in the medium light brown breadbasket.",
+    "Place the bread loaf with soft surface and the rectangular bread loaf into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread with golden crust and the bread with golden crust, then place them in the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the rectangular bread loaf and place them in the medium light brown breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf with soft surface and place in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the rectangular bread loaf and drop them into the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and put them in the medium light brown breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the rectangular bread loaf, drop in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust with two arms, place in the medium light brown breadbasket.",
+    "Place the rectangular bread loaf and the rectangular bread loaf into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the rectangular bread loaf and the rectangular bread loaf, then place them in the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the bread with golden crust and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread with golden crust and place in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop them into the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and put them in the medium light brown breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread with golden crust, drop in the rectangular breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and drop it into the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf with two arms, place in the rectangular light brown breadbasket.",
+    "Place the bread loaf with soft surface and the bread loaf with soft surface into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread with golden crust, then place them in the rectangular breadbasket.",
+    "Pick the bread with golden crust and the bread loaf with soft surface and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf with soft surface and place in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and drop them into the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and put them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the rectangular bread loaf, drop in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and drop it into the rectangular light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the bread with golden crust with two arms, place in the rectangular breadbasket.",
+    "Place the rectangular bread loaf and the bread loaf with soft surface into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread loaf with soft surface, then place them in the rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and the rectangular bread loaf and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the rectangular bread loaf and place in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and drop them into the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and put them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread with golden crust and the bread loaf with soft surface, drop in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop it into the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust with two arms, place in the rectangular breadbasket.",
+    "Place the rectangular bread loaf and the bread with golden crust into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread with golden crust and the rectangular bread loaf, then place them in the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the bread loaf with soft surface and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the bread with golden crust and place in the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop them into the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and put them in the medium light brown breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread with golden crust, drop in the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop it into the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface with two arms, place in the rectangular breadbasket.",
+    "Place the bread with golden crust and the bread with golden crust into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the bread with golden crust and the bread with golden crust, then place them in the rectangular light brown breadbasket.",
+    "Pick the rectangular bread loaf and the bread loaf with soft surface and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the rectangular bread loaf and place in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and drop them into the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and put them in the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread with golden crust, drop in the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop it into the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf with two arms, place in the rectangular light brown breadbasket.",
+    "Place the rectangular bread loaf and the rectangular bread loaf into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread with golden crust, then place them in the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the bread loaf with soft surface and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread with golden crust and place in the medium light brown breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode21.json b/place_bread_basket/demo_clean/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1769ea81cb3675835bcdb9a39ca569537e427e
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simultaneously use the dual arm to drop the bread with warm golden color and the golden crusted bread slice in the woven plastic breadbasket.",
+    "Take the small loaf with curved top and the golden brown loaf-shaped bread to the synthetic material breadbasket",
+    "Shift the bread with golden-brown crust and the bread with golden surface color together to the oval breadbasket.",
+    "Use the dual arm to place the small loaf with curved top and the bread with golden surface color into the oval breadbasket.",
+    "Pick the small loaf with curved top and the bread with rounded corners for the the oval breadbasket",
+    "Take the smooth loaf with rounded edges and the bread loaf with square shape together and place them into the light brown breadbasket.",
+    "Pick the hand-sized oval loaf and the soft golden baked bread and set them in the breadbasket with curved base.",
+    "Pick the hand-sized oval loaf and the square loaf of bread, place them in the two-hand-sized breadbasket.",
+    "Grab both the hand-sized oval loaf and the bread with rounded corners, drop into the basket with light brown weaving.",
+    "Pick up both the light brown loaf with smooth sides and the slice-shaped bread, then place them in the light brown breadbasket.",
+    "Lift the soft brown bread and the rectangular bread soft inside with two arms, put in the medium oval breadbasket.",
+    "Grab the soft brown bread and the brown bread loaf quickly and drop them into the beige basket for holding bread.",
+    "Simultaneously grab the bread with warm golden color and the bread with golden surface color, drop in the oval breadbasket.",
+    "Move the soft brown bread and the square loaf of bread to the light brown breadbasket",
+    "Grab two breads the light brown loaf with smooth sides and the bread with firm crust edges and place in the light brown breadbasket.",
+    "Use two arms and set the bread with split top, the golden bread in the synthetic material breadbasket.",
+    "Lift the brown loaf and the bread with rounded corners at once with the dual arm, then set them in the light brown breadbasket.",
+    "Shift the light brown bread with ridges and the rectangular bread soft inside into the synthetic material breadbasket",
+    "Grab both the brown loaf and the bread with firm crust edges with the dual arm and place in the oval breadbasket.",
+    "Place the light brown loaf with smooth sides and the bread loaf with square shape in the basket with light brown weaving using the dual arm",
+    "Use both arms to move the bread with golden-brown crust, the bread with rounded corners to the synthetic material breadbasket.",
+    "Take the soft brown bread and the golden bread then place in the synthetic material breadbasket.",
+    "Put the light brown loaf with smooth sides and the bread with golden surface color into the beige basket for holding bread using two arms.",
+    "Take the bread with golden-brown crust and the square loaf of bread, place them inside the basket with light brown weaving.",
+    "Simultaneously grab the small golden brown bread and the golden brown loaf-shaped bread using the dual arm, then drop them in the breadbasket with curved base.",
+    "Move the bread with warm golden color and the slice-shaped bread at once into the oval basket for bread.",
+    "Simultaneously use the dual arm to drop the brown loaf and the bread with golden surface color in the synthetic material breadbasket.",
+    "Take the smooth loaf with rounded edges and the bread loaf with square shape to the oval basket for bread",
+    "Shift the golden bread loaf and the bread with firm crust edges together to the breadbasket for small food items.",
+    "Use the dual arm to place the hand-sized oval loaf and the slice-shaped bread into the breadbasket with curved base.",
+    "Pick the smooth loaf with rounded edges and the bread loaf with square shape for the the breadbasket with curved base",
+    "Take the bread with golden-brown crust and the bread with rounded corners together and place them into the basket with light brown weaving.",
+    "Pick the light brown bread with ridges and the bread with firm crust edges and set them in the two-hand-sized breadbasket.",
+    "Pick the smooth loaf with rounded edges and the bread with rounded corners, place them in the medium oval breadbasket.",
+    "Grab both the light brown loaf with smooth sides and the bread loaf with square shape, drop into the light brown breadbasket.",
+    "Pick up both the light brown bread with ridges and the square loaf of bread, then place them in the woven plastic breadbasket.",
+    "Lift the bread with split top and the bread loaf with square shape with two arms, put in the two-hand-sized breadbasket.",
+    "Grab the bread with golden-brown crust and the bread with firm crust edges quickly and drop them into the woven plastic breadbasket.",
+    "Simultaneously grab the brown loaf and the square loaf of bread, drop in the two-hand-sized breadbasket.",
+    "Move the smooth loaf with rounded edges and the bread with rounded corners to the synthetic material breadbasket",
+    "Grab two breads the small loaf with curved top and the bread with golden surface color and place in the smooth-textured breadbasket.",
+    "Use two arms and set the small loaf with curved top, the golden bread in the two-hand-sized breadbasket.",
+    "Lift the bread with golden-brown crust and the golden bread at once with the dual arm, then set them in the oval basket for bread.",
+    "Shift the small loaf with curved top and the golden crusted bread slice into the two-hand-sized breadbasket",
+    "Grab both the soft brown bread and the golden bread with the dual arm and place in the woven plastic breadbasket.",
+    "Place the light brown bread with ridges and the slice-shaped bread in the two-hand-sized breadbasket using the dual arm",
+    "Use both arms to move the bread with split top, the bread with golden surface color to the smooth-textured breadbasket.",
+    "Take the small golden brown bread and the brown bread loaf then place in the breadbasket for small food items.",
+    "Put the light brown bread with ridges and the bread with rounded corners into the basket with light brown weaving using two arms.",
+    "Take the smooth loaf with rounded edges and the golden crusted bread slice, place them inside the smooth-textured breadbasket.",
+    "Simultaneously grab the golden bread loaf and the brown bread loaf using the dual arm, then drop them in the light brown breadbasket.",
+    "Move the smooth loaf with rounded edges and the golden brown loaf-shaped bread at once into the two-hand-sized breadbasket.",
+    "Simultaneously use the dual arm to drop the brown loaf and the rectangular bread soft inside in the oval basket for bread.",
+    "Take the hand-sized oval loaf and the golden brown loaf-shaped bread to the woven plastic breadbasket",
+    "Shift the hand-sized oval loaf and the golden brown loaf-shaped bread together to the woven plastic breadbasket.",
+    "Use the dual arm to place the light brown loaf with smooth sides and the rectangular bread soft inside into the two-hand-sized breadbasket.",
+    "Pick the bread with golden-brown crust and the bread with rounded corners for the the woven plastic breadbasket",
+    "Take the bread with golden-brown crust and the bread with golden surface color together and place them into the oval breadbasket.",
+    "Pick the bread with split top and the bread with golden surface color and set them in the medium oval breadbasket.",
+    "Pick the bread with warm golden color and the golden bread, place them in the oval basket for bread.",
+    "Grab both the soft brown bread and the bread with rounded corners, drop into the two-hand-sized breadbasket.",
+    "Pick up both the brown loaf and the bread with rounded corners, then place them in the basket with light brown weaving.",
+    "Lift the light brown loaf with smooth sides and the bread with golden surface color with two arms, put in the light brown breadbasket.",
+    "Grab the bread with golden-brown crust and the bread loaf with square shape quickly and drop them into the synthetic material breadbasket.",
+    "Simultaneously grab the light brown loaf with smooth sides and the soft golden baked bread, drop in the beige basket for holding bread.",
+    "Move the golden bread loaf and the bread loaf with square shape to the breadbasket for small food items",
+    "Grab two breads the brown loaf and the bread with rounded corners and place in the synthetic material breadbasket.",
+    "Use two arms and set the small loaf with curved top, the brown bread loaf in the light brown breadbasket.",
+    "Lift the soft brown bread and the rectangular bread soft inside at once with the dual arm, then set them in the medium oval breadbasket.",
+    "Shift the small golden brown bread and the square loaf of bread into the breadbasket with curved base",
+    "Grab both the small golden brown bread and the bread loaf with square shape with the dual arm and place in the synthetic material breadbasket.",
+    "Place the bread with golden-brown crust and the bread with rounded corners in the basket with light brown weaving using the dual arm",
+    "Use both arms to move the light brown bread with ridges, the square loaf of bread to the smooth-textured breadbasket.",
+    "Take the brown loaf and the square loaf of bread then place in the breadbasket with curved base.",
+    "Put the hand-sized oval loaf and the bread loaf with square shape into the two-hand-sized breadbasket using two arms.",
+    "Take the bread with golden-brown crust and the rectangular bread soft inside, place them inside the oval basket for bread.",
+    "Simultaneously grab the bread with golden-brown crust and the rectangular bread soft inside using the dual arm, then drop them in the oval breadbasket.",
+    "Move the light brown bread with ridges and the golden brown loaf-shaped bread at once into the medium oval breadbasket.",
+    "Simultaneously use the dual arm to drop the brown loaf and the golden bread in the oval basket for bread.",
+    "Take the bread with split top and the soft golden baked bread to the two-hand-sized breadbasket",
+    "Shift the hand-sized oval loaf and the golden brown loaf-shaped bread together to the smooth-textured breadbasket.",
+    "Use the dual arm to place the hand-sized oval loaf and the golden bread into the medium oval breadbasket.",
+    "Pick the brown loaf and the golden crusted bread slice for the the light brown breadbasket",
+    "Take the bread with golden-brown crust and the bread with rounded corners together and place them into the woven plastic breadbasket.",
+    "Pick the smooth loaf with rounded edges and the soft golden baked bread and set them in the medium oval breadbasket.",
+    "Pick the light brown bread with ridges and the bread with rounded corners, place them in the two-hand-sized breadbasket.",
+    "Grab both the hand-sized oval loaf and the golden bread, drop into the basket with light brown weaving.",
+    "Pick up both the bread with warm golden color and the bread with firm crust edges, then place them in the breadbasket with curved base.",
+    "Lift the bread with warm golden color and the soft golden baked bread with two arms, put in the oval breadbasket.",
+    "Grab the smooth loaf with rounded edges and the square loaf of bread quickly and drop them into the oval breadbasket.",
+    "Simultaneously grab the brown loaf and the bread with firm crust edges, drop in the basket with light brown weaving.",
+    "Move the golden bread loaf and the golden crusted bread slice to the two-hand-sized breadbasket",
+    "Grab two breads the light brown loaf with smooth sides and the slice-shaped bread and place in the woven plastic breadbasket.",
+    "Use two arms and set the bread with split top, the golden crusted bread slice in the basket with light brown weaving.",
+    "Lift the soft brown bread and the bread with golden surface color at once with the dual arm, then set them in the synthetic material breadbasket.",
+    "Shift the bread with split top and the golden crusted bread slice into the two-hand-sized breadbasket",
+    "Grab both the smooth loaf with rounded edges and the slice-shaped bread with the dual arm and place in the woven plastic breadbasket.",
+    "Place the brown loaf and the bread with rounded corners in the medium oval breadbasket using the dual arm",
+    "Use both arms to move the smooth loaf with rounded edges, the square loaf of bread to the oval basket for bread.",
+    "Take the small loaf with curved top and the square loaf of bread then place in the oval basket for bread."
+  ],
+  "unseen": [
+    "Grab the oval bread and the bread loaf medium-sized and put them in the medium-sized breadbasket.",
+    "Place the oval bread and the soft rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the oval-shaped soft bread and the soft rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the soft rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Grab the oval bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Pick the oval-shaped soft bread and the small loaf-shaped bread and place them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and put them in the beige breadbasket.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick the oval-shaped soft bread and the soft rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Pick the rounded oval bread and the soft rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the medium-sized breadbasket.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the medium-sized breadbasket using the dual arm",
+    "Use the dual arm to pick the oval bread and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the oval bread and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and drop them into the medium-sized breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the soft rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and put them in the medium-sized breadbasket.",
+    "Place the oval bread and the soft rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Use the dual arm to pick the oval bread and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the rounded oval bread and the soft rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the bread loaf medium-sized, then place them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Pick the oval bread and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Place the oval-shaped soft bread and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the oval-shaped soft bread and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the soft rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Pick the oval bread and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and put them in the medium-sized breadbasket.",
+    "Place the oval-shaped soft bread and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the oval bread and the small loaf-shaped bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Pick the rounded oval bread and the soft rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Place the rounded oval bread and the soft rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick the rounded oval bread and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the small loaf-shaped bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop them into the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the soft rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Pick the rounded oval bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and put them in the beige breadbasket.",
+    "Place the oval bread and the bread loaf medium-sized into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick the rounded oval bread and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop them into the medium-sized breadbasket.",
+    "Use one arm to grab the oval bread and the soft rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the bread loaf medium-sized, then place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop it into the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the bread loaf medium-sized and place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and put them in the medium-sized breadbasket.",
+    "Place the oval-shaped soft bread and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the rounded oval bread and the soft rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread with two arms, place in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the oval bread and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the medium-sized breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Pick the oval bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Place the oval-shaped soft bread and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the oval bread and the soft rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Pick the oval bread and the small loaf-shaped bread and place them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Place the oval-shaped soft bread and the soft rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop them into the medium-sized breadbasket.",
+    "Use one arm to grab the rounded oval bread and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Pick the oval bread and the small loaf-shaped bread and place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode22.json b/place_bread_basket/demo_clean/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5e46ef23930150cd5e3177fcbca42b786700b4e
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab two breads the hand-sized oval loaf and the golden crusted bread slice and place in the oval basket for bread.",
+    "Shift the soft brown bread and the bread with golden surface color together to the basket with light brown weaving.",
+    "Take the light brown bread with ridges and the brown bread loaf then place in the synthetic material breadbasket.",
+    "Place the bread with golden-brown crust and the square loaf of bread in the oval basket for bread using the dual arm",
+    "Pick up both the small golden brown bread and the golden bread, then place them in the woven plastic breadbasket.",
+    "Put the golden bread loaf and the slice-shaped bread into the beige basket for holding bread using two arms.",
+    "Take the light brown loaf with smooth sides and the golden crusted bread slice to the beige basket for holding bread",
+    "Grab both the smooth loaf with rounded edges and the bread loaf with square shape with the dual arm and place in the oval breadbasket.",
+    "Take the golden bread loaf and the golden bread, place them inside the synthetic material breadbasket.",
+    "Use both arms to move the small loaf with curved top, the square loaf of bread to the basket with light brown weaving.",
+    "Lift the light brown loaf with smooth sides and the golden bread with two arms, put in the woven plastic breadbasket.",
+    "Pick the bread with warm golden color and the bread with rounded corners for the the oval basket for bread",
+    "Simultaneously grab the bread with warm golden color and the bread with rounded corners using the dual arm, then drop them in the oval breadbasket.",
+    "Grab the small loaf with curved top and the golden crusted bread slice quickly and drop them into the oval breadbasket.",
+    "Lift the brown loaf and the brown bread loaf at once with the dual arm, then set them in the two-hand-sized breadbasket.",
+    "Simultaneously use the dual arm to drop the light brown loaf with smooth sides and the bread loaf with square shape in the two-hand-sized breadbasket.",
+    "Use two arms and set the small golden brown bread, the soft golden baked bread in the smooth-textured breadbasket.",
+    "Take the light brown bread with ridges and the bread with rounded corners together and place them into the breadbasket with curved base.",
+    "Grab both the bread with split top and the bread with firm crust edges, drop into the synthetic material breadbasket.",
+    "Move the bread with split top and the bread with firm crust edges at once into the light brown breadbasket.",
+    "Shift the smooth loaf with rounded edges and the square loaf of bread into the synthetic material breadbasket",
+    "Simultaneously grab the bread with warm golden color and the rectangular bread soft inside, drop in the oval basket for bread.",
+    "Pick the light brown loaf with smooth sides and the bread loaf with square shape and set them in the medium oval breadbasket.",
+    "Pick the bread with golden-brown crust and the golden crusted bread slice, place them in the oval basket for bread.",
+    "Move the hand-sized oval loaf and the golden bread to the beige basket for holding bread",
+    "Use the dual arm to place the smooth loaf with rounded edges and the bread with firm crust edges into the woven plastic breadbasket.",
+    "Grab two breads the bread with golden-brown crust and the bread with rounded corners and place in the two-hand-sized breadbasket.",
+    "Shift the smooth loaf with rounded edges and the golden brown loaf-shaped bread together to the oval basket for bread.",
+    "Take the hand-sized oval loaf and the soft golden baked bread then place in the light brown breadbasket.",
+    "Place the bread with split top and the square loaf of bread in the light brown breadbasket using the dual arm",
+    "Pick up both the hand-sized oval loaf and the rectangular bread soft inside, then place them in the synthetic material breadbasket.",
+    "Put the soft brown bread and the bread with firm crust edges into the two-hand-sized breadbasket using two arms.",
+    "Take the golden bread loaf and the bread with firm crust edges to the two-hand-sized breadbasket",
+    "Grab both the golden bread loaf and the slice-shaped bread with the dual arm and place in the medium oval breadbasket.",
+    "Take the small loaf with curved top and the bread loaf with square shape, place them inside the two-hand-sized breadbasket.",
+    "Use both arms to move the golden bread loaf, the golden brown loaf-shaped bread to the oval basket for bread.",
+    "Lift the light brown loaf with smooth sides and the bread with firm crust edges with two arms, put in the light brown breadbasket.",
+    "Pick the light brown loaf with smooth sides and the golden bread for the the beige basket for holding bread",
+    "Simultaneously grab the hand-sized oval loaf and the square loaf of bread using the dual arm, then drop them in the basket with light brown weaving.",
+    "Grab the bread with warm golden color and the rectangular bread soft inside quickly and drop them into the light brown breadbasket.",
+    "Lift the light brown loaf with smooth sides and the soft golden baked bread at once with the dual arm, then set them in the smooth-textured breadbasket.",
+    "Simultaneously use the dual arm to drop the small golden brown bread and the bread with rounded corners in the basket with light brown weaving.",
+    "Use two arms and set the small golden brown bread, the bread with firm crust edges in the smooth-textured breadbasket.",
+    "Take the bread with golden-brown crust and the golden brown loaf-shaped bread together and place them into the woven plastic breadbasket.",
+    "Grab both the small loaf with curved top and the golden bread, drop into the breadbasket with curved base.",
+    "Move the bread with warm golden color and the golden crusted bread slice at once into the two-hand-sized breadbasket.",
+    "Shift the brown loaf and the golden brown loaf-shaped bread into the basket with light brown weaving",
+    "Simultaneously grab the bread with golden-brown crust and the soft golden baked bread, drop in the beige basket for holding bread.",
+    "Pick the smooth loaf with rounded edges and the golden crusted bread slice and set them in the beige basket for holding bread.",
+    "Pick the golden bread loaf and the golden brown loaf-shaped bread, place them in the synthetic material breadbasket.",
+    "Move the soft brown bread and the golden bread to the basket with light brown weaving",
+    "Use the dual arm to place the light brown loaf with smooth sides and the slice-shaped bread into the basket with light brown weaving.",
+    "Grab two breads the golden bread loaf and the golden bread and place in the woven plastic breadbasket.",
+    "Shift the smooth loaf with rounded edges and the bread loaf with square shape together to the breadbasket with curved base.",
+    "Take the golden bread loaf and the golden bread then place in the breadbasket for small food items.",
+    "Place the smooth loaf with rounded edges and the golden crusted bread slice in the medium oval breadbasket using the dual arm",
+    "Pick up both the light brown loaf with smooth sides and the bread with firm crust edges, then place them in the oval basket for bread.",
+    "Put the bread with golden-brown crust and the rectangular bread soft inside into the medium oval breadbasket using two arms.",
+    "Take the small golden brown bread and the square loaf of bread to the smooth-textured breadbasket",
+    "Grab both the hand-sized oval loaf and the square loaf of bread with the dual arm and place in the oval basket for bread.",
+    "Take the golden bread loaf and the golden bread, place them inside the oval breadbasket.",
+    "Use both arms to move the brown loaf, the rectangular bread soft inside to the breadbasket with curved base.",
+    "Lift the bread with golden-brown crust and the square loaf of bread with two arms, put in the synthetic material breadbasket.",
+    "Pick the brown loaf and the golden bread for the the smooth-textured breadbasket",
+    "Simultaneously grab the light brown bread with ridges and the golden crusted bread slice using the dual arm, then drop them in the medium oval breadbasket.",
+    "Grab the bread with golden-brown crust and the square loaf of bread quickly and drop them into the oval breadbasket.",
+    "Lift the bread with golden-brown crust and the bread with golden surface color at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Simultaneously use the dual arm to drop the light brown loaf with smooth sides and the bread with firm crust edges in the beige basket for holding bread.",
+    "Use two arms and set the brown loaf, the golden brown loaf-shaped bread in the smooth-textured breadbasket.",
+    "Take the hand-sized oval loaf and the soft golden baked bread together and place them into the light brown breadbasket.",
+    "Grab both the small loaf with curved top and the bread loaf with square shape, drop into the breadbasket for small food items.",
+    "Move the golden bread loaf and the rectangular bread soft inside at once into the two-hand-sized breadbasket.",
+    "Shift the smooth loaf with rounded edges and the slice-shaped bread into the basket with light brown weaving",
+    "Simultaneously grab the hand-sized oval loaf and the bread with rounded corners, drop in the oval basket for bread.",
+    "Pick the small loaf with curved top and the bread with golden surface color and set them in the basket with light brown weaving.",
+    "Pick the small loaf with curved top and the slice-shaped bread, place them in the woven plastic breadbasket.",
+    "Move the light brown loaf with smooth sides and the golden crusted bread slice to the woven plastic breadbasket",
+    "Use the dual arm to place the bread with warm golden color and the soft golden baked bread into the beige basket for holding bread.",
+    "Grab two breads the light brown bread with ridges and the brown bread loaf and place in the smooth-textured breadbasket.",
+    "Shift the bread with golden-brown crust and the brown bread loaf together to the beige basket for holding bread.",
+    "Take the golden bread loaf and the bread with firm crust edges then place in the two-hand-sized breadbasket.",
+    "Place the brown loaf and the golden crusted bread slice in the breadbasket for small food items using the dual arm",
+    "Pick up both the bread with golden-brown crust and the rectangular bread soft inside, then place them in the smooth-textured breadbasket.",
+    "Put the smooth loaf with rounded edges and the bread with firm crust edges into the synthetic material breadbasket using two arms.",
+    "Take the soft brown bread and the brown bread loaf to the breadbasket with curved base",
+    "Grab both the soft brown bread and the brown bread loaf with the dual arm and place in the two-hand-sized breadbasket.",
+    "Take the light brown loaf with smooth sides and the bread with golden surface color, place them inside the light brown breadbasket.",
+    "Use both arms to move the brown loaf, the slice-shaped bread to the smooth-textured breadbasket.",
+    "Lift the bread with split top and the rectangular bread soft inside with two arms, put in the two-hand-sized breadbasket.",
+    "Pick the small loaf with curved top and the bread loaf with square shape for the the smooth-textured breadbasket",
+    "Simultaneously grab the small loaf with curved top and the soft golden baked bread using the dual arm, then drop them in the breadbasket with curved base.",
+    "Grab the smooth loaf with rounded edges and the bread with rounded corners quickly and drop them into the smooth-textured breadbasket.",
+    "Lift the bread with golden-brown crust and the square loaf of bread at once with the dual arm, then set them in the smooth-textured breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with golden-brown crust and the bread with golden surface color in the basket with light brown weaving.",
+    "Use two arms and set the soft brown bread, the soft golden baked bread in the breadbasket with curved base.",
+    "Take the bread with golden-brown crust and the golden bread together and place them into the synthetic material breadbasket.",
+    "Grab both the hand-sized oval loaf and the brown bread loaf, drop into the oval basket for bread.",
+    "Move the brown loaf and the bread with golden surface color at once into the oval breadbasket.",
+    "Shift the small golden brown bread and the brown bread loaf into the smooth-textured breadbasket",
+    "Simultaneously grab the bread with split top and the bread with rounded corners, drop in the oval basket for bread."
+  ],
+  "unseen": [
+    "Use one arm to grab the oval bread and the small loaf-shaped bread, drop in the beige breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop them into the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Place the rounded oval bread and the small loaf-shaped bread into the medium-sized breadbasket using the dual arm",
+    "Grab the oval bread and the bread loaf medium-sized and drop it into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Pick the oval bread and the soft rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and put them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the medium-sized breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Pick the oval-shaped soft bread and the soft rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Use one arm to grab the oval bread and the small loaf-shaped bread, drop in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Place the rounded oval bread and the soft rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop it into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the small loaf-shaped bread and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the rounded oval bread and the soft rectangular bread loaf, drop in the beige breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Place the oval-shaped soft bread and the small loaf-shaped bread into the medium-sized breadbasket using the dual arm",
+    "Grab the oval bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the bread loaf medium-sized, then place them in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the bread loaf medium-sized and place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the oval bread and the bread loaf medium-sized and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the rounded oval bread and the bread loaf medium-sized, drop in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Grab the oval bread and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Place the oval bread and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Grab the oval bread and the small loaf-shaped bread and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Pick the rounded oval bread and the small loaf-shaped bread and place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the soft rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the small loaf-shaped bread with two arms, place in the breadbasket with ridged texture.",
+    "Place the oval bread and the soft rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the bread loaf medium-sized, then place them in the breadbasket with ridged texture.",
+    "Pick the rounded oval bread and the small loaf-shaped bread and place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and put them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Place the oval bread and the soft rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Pick the rounded oval bread and the bread loaf medium-sized and place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the soft rectangular bread loaf and place in the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Place the rounded oval bread and the small loaf-shaped bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the oval bread and the bread loaf medium-sized and drop it into the beige breadbasket.",
+    "Use the dual arm to pick up the oval bread and the soft rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Pick the oval-shaped soft bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and put them in the beige breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the oval bread and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the small loaf-shaped bread with two arms, place in the breadbasket with ridged texture.",
+    "Place the oval-shaped soft bread and the small loaf-shaped bread into the medium-sized breadbasket using the dual arm",
+    "Grab the oval bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rounded oval bread and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Pick the oval bread and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and put them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the bread loaf medium-sized and place in the medium-sized breadbasket.",
+    "Use one arm to grab the oval bread and the small loaf-shaped bread, drop in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Place the oval bread and the bread loaf medium-sized into the medium-sized breadbasket using the dual arm",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval bread and the soft rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop them into the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Place the oval-shaped soft bread and the small loaf-shaped bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the small loaf-shaped bread and place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the soft rectangular bread loaf, drop in the breadbasket with ridged texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode23.json b/place_bread_basket/demo_clean/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..16ea80ade42380d15ef0374cb78840312f395c79
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab two breads the golden bread loaf with soft inside and the smooth loaf with rounded edges and place in the woven rectangular breadbasket.",
+    "Move the smooth crusty small bread and the bread with warm golden color at once into the breadbasket for holding bread.",
+    "Grab both the golden brown bread and the brown loaf, drop into the light brown basket for bread.",
+    "Pick the small golden baked bread and the brown loaf and set them in the breadbasket with wicker weave pattern.",
+    "Simultaneously use the dual arm to drop the braided bread loaf and the light brown bread with ridges in the breadbasket with smooth woven texture.",
+    "Lift the braided bread loaf and the small loaf with curved top at once with the dual arm, then set them in the medium-sized rectangular breadbasket.",
+    "Simultaneously grab the golden brown bread and the hand-sized oval loaf, drop in the breadbasket with wicker weave pattern.",
+    "Put the soft doughy bread and the hand-sized oval loaf into the breadbasket with rounded edges using two arms.",
+    "Pick up both the small bread and the soft brown bread, then place them in the medium woven breadbasket.",
+    "Shift the soft golden bread and the small loaf with curved top together to the breadbasket with wicker weave pattern.",
+    "Simultaneously grab the soft golden bread and the bread with split top using the dual arm, then drop them in the light brown wicker breadbasket.",
+    "Use both arms to move the soft golden bread, the soft brown bread to the medium woven breadbasket.",
+    "Lift the round bread with braided top and the bread with split top with two arms, put in the breadbasket with smooth woven texture.",
+    "Use the dual arm to place the small golden baked bread and the small loaf with curved top into the medium-sized rectangular breadbasket.",
+    "Use two arms and set the round bread with braided top, the golden bread loaf in the brown breadbasket with rounded corners.",
+    "Pick the soft golden bread and the golden bread loaf, place them in the breadbasket with smooth woven texture.",
+    "Place the round bread with braided top and the light brown bread with ridges in the breadbasket with rounded edges using the dual arm",
+    "Take the round bread with braided top and the golden bread loaf together and place them into the light brown wicker breadbasket.",
+    "Take the soft golden bread and the small loaf with curved top then place in the breadbasket for holding bread.",
+    "Move the golden bread loaf with soft inside and the golden bread loaf to the woven rectangular breadbasket",
+    "Take the round bread with braided top and the hand-sized oval loaf, place them inside the brown breadbasket.",
+    "Grab both the bread with golden crust and the light brown loaf with smooth sides with the dual arm and place in the brown breadbasket.",
+    "Shift the round bread with braided top and the light brown loaf with smooth sides into the breadbasket with rounded edges",
+    "Take the bread with golden crust and the bread with warm golden color to the medium woven breadbasket",
+    "Pick the golden brown bread with braided design and the small loaf with curved top for the the woven rectangular breadbasket",
+    "Grab the golden bread loaf with soft inside and the light brown bread with ridges quickly and drop them into the smooth textured brown breadbasket.",
+    "Grab two breads the small golden baked bread and the bread with split top and place in the smooth textured brown breadbasket.",
+    "Move the smooth crusty small bread and the bread with warm golden color at once into the breadbasket for holding bread.",
+    "Grab both the golden bread loaf with soft inside and the light brown loaf with smooth sides, drop into the light brown basket for bread.",
+    "Pick the round bread with crusty texture and the brown loaf and set them in the smooth textured brown breadbasket.",
+    "Simultaneously use the dual arm to drop the braided bread loaf and the bread with warm golden color in the breadbasket with smooth woven texture.",
+    "Lift the small golden baked bread and the small loaf with curved top at once with the dual arm, then set them in the medium-sized rectangular breadbasket.",
+    "Simultaneously grab the bread with golden crust and the soft brown bread, drop in the medium woven breadbasket.",
+    "Put the small bread and the soft brown bread into the breadbasket for holding bread using two arms.",
+    "Pick up both the golden brown bread with braided design and the small golden brown bread, then place them in the light brown wicker breadbasket.",
+    "Shift the golden bread loaf with soft inside and the light brown loaf with smooth sides together to the breadbasket with rounded edges.",
+    "Simultaneously grab the round bread with crusty texture and the smooth loaf with rounded edges using the dual arm, then drop them in the breadbasket with rounded edges.",
+    "Use both arms to move the golden brown bread, the golden bread loaf to the medium woven breadbasket.",
+    "Lift the soft doughy bread and the bread with golden-brown crust with two arms, put in the breadbasket with rounded edges.",
+    "Use the dual arm to place the round bread with braided top and the soft brown bread into the light brown wicker breadbasket.",
+    "Use two arms and set the golden bread loaf with soft inside, the small golden brown bread in the woven rectangular breadbasket.",
+    "Pick the braided bread loaf and the golden bread loaf, place them in the light brown basket for bread.",
+    "Place the golden brown bread with braided design and the bread with golden-brown crust in the woven rectangular breadbasket using the dual arm",
+    "Take the golden brown bread with braided design and the hand-sized oval loaf together and place them into the breadbasket with smooth woven texture.",
+    "Take the golden brown bread and the bread with warm golden color then place in the medium-sized rectangular breadbasket.",
+    "Move the bread with golden crust and the light brown loaf with smooth sides to the brown breadbasket with rounded corners",
+    "Take the golden brown bread and the smooth loaf with rounded edges, place them inside the brown breadbasket with rounded corners.",
+    "Grab both the golden brown bread with braided design and the bread with split top with the dual arm and place in the breadbasket with wicker weave pattern.",
+    "Shift the golden brown bread and the hand-sized oval loaf into the light brown wicker breadbasket",
+    "Take the bread with golden crust and the bread with split top to the breadbasket with rounded edges",
+    "Pick the smooth crusty small bread and the bread with split top for the the breadbasket for holding bread",
+    "Grab the smooth crusty small bread and the bread with split top quickly and drop them into the brown breadbasket.",
+    "Grab two breads the soft doughy bread and the light brown loaf with smooth sides and place in the brown breadbasket with rounded corners.",
+    "Move the golden brown bread and the smooth loaf with rounded edges at once into the woven rectangular breadbasket.",
+    "Grab both the bread with golden crust and the hand-sized oval loaf, drop into the smooth textured brown breadbasket.",
+    "Pick the soft golden bread and the small loaf with curved top and set them in the breadbasket with smooth woven texture.",
+    "Simultaneously use the dual arm to drop the round bread with braided top and the bread with split top in the smooth textured brown breadbasket.",
+    "Lift the small bread and the small loaf with curved top at once with the dual arm, then set them in the smooth textured brown breadbasket.",
+    "Simultaneously grab the bread with golden crust and the smooth loaf with rounded edges, drop in the medium-sized rectangular breadbasket.",
+    "Put the golden brown bread with braided design and the golden bread loaf into the breadbasket for holding bread using two arms.",
+    "Pick up both the golden brown bread with braided design and the small golden brown bread, then place them in the brown breadbasket.",
+    "Shift the small bread and the bread with warm golden color together to the breadbasket for holding bread.",
+    "Simultaneously grab the bread with golden crust and the hand-sized oval loaf using the dual arm, then drop them in the brown breadbasket.",
+    "Use both arms to move the smooth crusty small bread, the light brown loaf with smooth sides to the medium-sized rectangular breadbasket.",
+    "Lift the bread with golden crust and the light brown loaf with smooth sides with two arms, put in the medium-sized rectangular breadbasket.",
+    "Use the dual arm to place the golden brown bread with braided design and the small golden brown bread into the light brown basket for bread.",
+    "Use two arms and set the golden bread loaf with soft inside, the soft brown bread in the breadbasket with wicker weave pattern.",
+    "Pick the golden bread loaf with soft inside and the bread with golden-brown crust, place them in the woven rectangular breadbasket.",
+    "Place the round bread with crusty texture and the light brown bread with ridges in the medium woven breadbasket using the dual arm",
+    "Take the round bread with crusty texture and the hand-sized oval loaf together and place them into the breadbasket with smooth woven texture.",
+    "Take the soft doughy bread and the light brown loaf with smooth sides then place in the brown breadbasket.",
+    "Move the golden brown bread with braided design and the small golden brown bread to the breadbasket with smooth woven texture",
+    "Take the round bread with crusty texture and the small golden brown bread, place them inside the light brown basket for bread.",
+    "Grab both the smooth crusty small bread and the soft brown bread with the dual arm and place in the brown breadbasket.",
+    "Shift the soft golden bread and the golden bread loaf into the light brown wicker breadbasket",
+    "Take the golden brown bread and the bread with warm golden color to the brown breadbasket with rounded corners",
+    "Pick the golden brown bread and the soft brown bread for the the medium-sized rectangular breadbasket",
+    "Grab the small golden baked bread and the small golden brown bread quickly and drop them into the light brown wicker breadbasket.",
+    "Grab two breads the small bread and the bread with split top and place in the brown breadbasket.",
+    "Move the golden brown bread with braided design and the light brown bread with ridges at once into the brown breadbasket with rounded corners.",
+    "Grab both the smooth crusty small bread and the hand-sized oval loaf, drop into the breadbasket for holding bread.",
+    "Pick the golden brown bread with braided design and the smooth loaf with rounded edges and set them in the brown breadbasket.",
+    "Simultaneously use the dual arm to drop the small bread and the soft brown bread in the breadbasket with rounded edges.",
+    "Lift the golden brown bread and the hand-sized oval loaf at once with the dual arm, then set them in the smooth textured brown breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the light brown loaf with smooth sides, drop in the breadbasket with wicker weave pattern.",
+    "Put the small bread and the bread with golden-brown crust into the breadbasket for holding bread using two arms.",
+    "Pick up both the small golden baked bread and the small golden brown bread, then place them in the medium woven breadbasket.",
+    "Shift the round bread with crusty texture and the hand-sized oval loaf together to the light brown basket for bread.",
+    "Simultaneously grab the smooth crusty small bread and the light brown bread with ridges using the dual arm, then drop them in the light brown wicker breadbasket.",
+    "Use both arms to move the braided bread loaf, the bread with golden-brown crust to the breadbasket with rounded edges.",
+    "Lift the smooth crusty small bread and the soft brown bread with two arms, put in the light brown basket for bread.",
+    "Use the dual arm to place the soft golden bread and the small loaf with curved top into the breadbasket with wicker weave pattern.",
+    "Use two arms and set the soft doughy bread, the small golden brown bread in the brown breadbasket with rounded corners.",
+    "Pick the soft golden bread and the light brown loaf with smooth sides, place them in the woven rectangular breadbasket.",
+    "Place the soft golden bread and the bread with split top in the breadbasket with smooth woven texture using the dual arm",
+    "Take the golden brown bread with braided design and the soft brown bread together and place them into the light brown basket for bread.",
+    "Take the smooth crusty small bread and the smooth loaf with rounded edges then place in the brown breadbasket with rounded corners.",
+    "Move the golden bread loaf with soft inside and the hand-sized oval loaf to the woven rectangular breadbasket",
+    "Take the braided bread loaf and the smooth loaf with rounded edges, place them inside the breadbasket for holding bread.",
+    "Grab both the bread with golden crust and the light brown bread with ridges with the dual arm and place in the medium woven breadbasket."
+  ],
+  "unseen": [
+    "Pick the palm-sized braided golden bread and the oval bread and place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval bread, drop in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread with two arms, place in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the rectangular light brown breadbasket.",
+    "Place the braided top round bread and the oval bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the braided top round bread and the rounded oval bread and drop them into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the oval bread and place in the rectangular breadbasket.",
+    "Pick the round braided loaf and the oval bread and place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the oval bread, drop in the rectangular breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and put them in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the rounded oval bread, then place them in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the oval-shaped soft bread into the rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop them into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the oval-shaped soft bread and place in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the oval bread and place them in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval-shaped soft bread, drop in the rectangular breadbasket.",
+    "Grab the round braided loaf and the oval bread and put them in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the rounded oval bread, then place them in the medium light brown breadbasket.",
+    "Place the braided top round bread and the rounded oval bread into the medium light brown breadbasket using the dual arm",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the rounded oval bread and place in the medium light brown breadbasket.",
+    "Pick the palm-sized braided golden bread and the oval-shaped soft bread and place them in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and put them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the rounded oval bread, then place them in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the oval-shaped soft bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop them into the rectangular breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the oval-shaped soft bread and place in the medium light brown breadbasket.",
+    "Pick the palm-sized braided golden bread and the oval-shaped soft bread and place them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and put them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the oval bread, then place them in the rectangular breadbasket.",
+    "Place the braided top round bread and the oval-shaped soft bread into the medium light brown breadbasket using the dual arm",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the oval bread and place in the medium light brown breadbasket.",
+    "Pick the braided top round bread and the rounded oval bread and place them in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and put them in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the rectangular breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the rounded oval bread, then place them in the medium light brown breadbasket.",
+    "Place the round braided loaf and the oval bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop them into the rectangular breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the oval-shaped soft bread and place in the medium light brown breadbasket.",
+    "Pick the round braided loaf and the rounded oval bread and place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread with two arms, place in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the rectangular light brown breadbasket.",
+    "Place the round braided loaf and the rounded oval bread into the rectangular breadbasket using the dual arm",
+    "Grab the round braided loaf and the oval bread and drop them into the rectangular breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the oval-shaped soft bread and place in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the oval bread and place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and put them in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread with two arms, place in the rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval bread, then place them in the rectangular light brown breadbasket.",
+    "Place the braided top round bread and the oval-shaped soft bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop them into the medium light brown breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the oval-shaped soft bread and place in the medium light brown breadbasket.",
+    "Pick the braided top round bread and the rounded oval bread and place them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and put them in the rectangular breadbasket.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the oval bread, then place them in the medium light brown breadbasket.",
+    "Place the braided top round bread and the rounded oval bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the oval bread and drop them into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the oval-shaped soft bread and place in the rectangular breadbasket.",
+    "Pick the braided top round bread and the oval-shaped soft bread and place them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the oval bread, drop in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the rectangular light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the rounded oval bread into the medium light brown breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop them into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the oval bread and place in the medium light brown breadbasket.",
+    "Pick the braided top round bread and the oval-shaped soft bread and place them in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the oval bread, then place them in the rectangular breadbasket.",
+    "Place the round braided loaf and the oval-shaped soft bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the oval bread and drop them into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the rounded oval bread and place in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the medium light brown breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode24.json b/place_bread_basket/demo_clean/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4ad9eabdf0b277e22b7c933446703ff3b6ed198
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to place the golden brown loaf-shaped bread and the bread with golden crust into the smooth textured breadbasket.",
+    "Pick the bread with rounded corners and the round bread with crusty texture, place them in the oval perforated breadbasket white edges.",
+    "Move the golden brown loaf-shaped bread and the small golden baked bread to the beige basket with white grid design",
+    "Take the soft golden baked bread and the round bread with braided top together and place them into the medium oval basket for bread.",
+    "Grab both the golden crusted bread slice and the golden bread loaf with soft inside, drop into the medium breadbasket with perforated sides.",
+    "Grab two breads the golden crusted bread slice and the small bread and place in the basket for carrying bread beige.",
+    "Move the slice-shaped bread and the bread with golden crust at once into the basket for carrying bread beige.",
+    "Simultaneously grab the golden crusted bread slice and the soft golden bread, drop in the medium breadbasket with perforated sides.",
+    "Place the bread with firm crust edges and the smooth crusty small bread in the beige basket with white grid design using the right arm",
+    "Take the rectangular bread soft inside and the golden bread loaf with soft inside to the beige plastic breadbasket",
+    "Use both arms to move the bread with golden surface color, the small bread to the medium breadbasket with perforated sides.",
+    "Pick up both the brown bread loaf and the bread with golden crust, then place them in the beige basket with white grid design.",
+    "Simultaneously grab the bread with firm crust edges and the golden brown bread using the right arm, then drop them in the oval perforated breadbasket white edges.",
+    "Shift the rectangular bread soft inside and the small golden baked bread together to the smooth textured breadbasket.",
+    "Take the golden crusted bread slice and the small bread, place them inside the beige breadbasket.",
+    "Shift the golden crusted bread slice and the round bread with braided top into the medium plastic breadbasket oval shape",
+    "Grab the golden crusted bread slice and the golden bread loaf with soft inside quickly and drop them into the oval perforated breadbasket white edges.",
+    "Grab both the square loaf of bread and the golden bread loaf with soft inside with the right arm and place in the beige plastic breadbasket.",
+    "Lift the bread with firm crust edges and the small bread with two arms, put in the white oval breadbasket.",
+    "Simultaneously use the right arm to drop the rectangular bread soft inside and the golden brown bread with braided design in the beige basket with white grid design.",
+    "Put the bread loaf with square shape and the smooth crusty small bread into the beige plastic breadbasket using two arms.",
+    "Lift the golden bread and the golden brown bread with braided design at once with the right arm, then set them in the beige basket with white grid design.",
+    "Use two arms and set the golden crusted bread slice, the golden bread loaf with soft inside in the medium plastic breadbasket oval shape.",
+    "Take the golden crusted bread slice and the soft doughy bread then place in the medium oval basket for bread.",
+    "Pick the brown bread loaf and the round bread with crusty texture and set them in the medium breadbasket with perforated sides.",
+    "Pick the soft golden baked bread and the small golden baked bread for the the white oval breadbasket",
+    "Use the right arm to place the rectangular bread soft inside and the smooth crusty small bread into the basket for carrying bread beige.",
+    "Pick the square loaf of bread and the golden brown bread with braided design, place them in the medium breadbasket with perforated sides.",
+    "Move the golden bread and the golden brown bread to the basket for carrying bread beige",
+    "Take the square loaf of bread and the golden brown bread with braided design together and place them into the beige breadbasket.",
+    "Grab both the square loaf of bread and the bread with golden crust, drop into the medium oval basket for bread.",
+    "Grab two breads the golden bread and the golden bread loaf with soft inside and place in the smooth textured breadbasket.",
+    "Move the golden bread and the golden brown bread at once into the smooth textured breadbasket.",
+    "Simultaneously grab the bread with rounded corners and the golden brown bread with braided design, drop in the beige basket with white grid design.",
+    "Place the golden brown loaf-shaped bread and the soft doughy bread in the beige breadbasket using the right arm",
+    "Take the rectangular bread soft inside and the braided bread loaf to the medium oval basket for bread",
+    "Use both arms to move the brown bread loaf, the round bread with braided top to the beige basket with white grid design.",
+    "Pick up both the golden crusted bread slice and the golden bread loaf with soft inside, then place them in the basket for carrying bread beige.",
+    "Simultaneously grab the bread with firm crust edges and the braided bread loaf using the right arm, then drop them in the medium plastic breadbasket oval shape.",
+    "Shift the bread loaf with square shape and the soft golden bread together to the medium plastic breadbasket oval shape.",
+    "Take the square loaf of bread and the smooth crusty small bread, place them inside the medium plastic breadbasket oval shape.",
+    "Shift the brown bread loaf and the small golden baked bread into the oval-shaped breadbasket",
+    "Grab the bread with golden surface color and the round bread with crusty texture quickly and drop them into the white oval breadbasket.",
+    "Grab both the bread with rounded corners and the bread with golden crust with the right arm and place in the oval perforated breadbasket white edges.",
+    "Lift the soft golden baked bread and the round bread with braided top with two arms, put in the oval perforated breadbasket white edges.",
+    "Simultaneously use the right arm to drop the golden brown loaf-shaped bread and the golden brown bread in the beige breadbasket.",
+    "Put the golden crusted bread slice and the soft golden bread into the medium breadbasket with perforated sides using two arms.",
+    "Lift the slice-shaped bread and the small golden baked bread at once with the right arm, then set them in the white oval breadbasket.",
+    "Use two arms and set the slice-shaped bread, the braided bread loaf in the smooth textured breadbasket.",
+    "Take the slice-shaped bread and the golden brown bread with braided design then place in the oval perforated breadbasket white edges.",
+    "Pick the rectangular bread soft inside and the golden brown bread and set them in the smooth textured breadbasket.",
+    "Pick the bread with firm crust edges and the soft doughy bread for the the basket for carrying bread beige",
+    "Use the right arm to place the bread with firm crust edges and the smooth crusty small bread into the white oval breadbasket.",
+    "Pick the bread with rounded corners and the soft doughy bread, place them in the oval-shaped breadbasket.",
+    "Move the bread loaf with square shape and the golden brown bread with braided design to the basket for bread beige plastic",
+    "Take the soft golden baked bread and the golden brown bread together and place them into the oval perforated breadbasket white edges.",
+    "Grab both the golden bread and the round bread with crusty texture, drop into the oval-shaped breadbasket.",
+    "Grab two breads the golden brown loaf-shaped bread and the small bread and place in the basket for carrying bread beige.",
+    "Move the brown bread loaf and the round bread with crusty texture at once into the basket for carrying bread beige.",
+    "Simultaneously grab the golden crusted bread slice and the smooth crusty small bread, drop in the basket for bread beige plastic.",
+    "Place the bread with golden surface color and the small bread in the basket for bread beige plastic using the right arm",
+    "Take the golden crusted bread slice and the round bread with crusty texture to the beige plastic breadbasket",
+    "Use both arms to move the bread with golden surface color, the smooth crusty small bread to the medium plastic breadbasket oval shape.",
+    "Pick up both the bread with golden surface color and the golden brown bread with braided design, then place them in the beige plastic breadbasket.",
+    "Simultaneously grab the golden crusted bread slice and the golden bread loaf with soft inside using the right arm, then drop them in the beige plastic breadbasket.",
+    "Shift the golden crusted bread slice and the bread with golden crust together to the oval perforated breadbasket white edges.",
+    "Take the golden crusted bread slice and the golden bread loaf with soft inside, place them inside the oval perforated breadbasket white edges.",
+    "Shift the golden brown loaf-shaped bread and the round bread with braided top into the smooth textured breadbasket",
+    "Grab the slice-shaped bread and the golden brown bread with braided design quickly and drop them into the basket for bread beige plastic.",
+    "Grab both the golden bread and the small bread with the right arm and place in the basket for carrying bread beige.",
+    "Lift the bread loaf with square shape and the soft golden bread with two arms, put in the beige plastic breadbasket.",
+    "Simultaneously use the right arm to drop the bread with firm crust edges and the round bread with crusty texture in the medium plastic breadbasket oval shape.",
+    "Put the bread with firm crust edges and the braided bread loaf into the basket for bread beige plastic using two arms.",
+    "Lift the golden brown loaf-shaped bread and the braided bread loaf at once with the right arm, then set them in the medium plastic breadbasket oval shape.",
+    "Use two arms and set the brown bread loaf, the braided bread loaf in the white oval breadbasket.",
+    "Take the golden bread and the round bread with crusty texture then place in the medium plastic breadbasket oval shape.",
+    "Pick the slice-shaped bread and the small golden baked bread and set them in the beige plastic breadbasket.",
+    "Pick the rectangular bread soft inside and the soft doughy bread for the the medium oval basket for bread",
+    "Use the right arm to place the square loaf of bread and the golden brown bread with braided design into the basket for carrying bread beige.",
+    "Pick the golden bread and the soft doughy bread, place them in the medium plastic breadbasket oval shape.",
+    "Move the bread loaf with square shape and the small golden baked bread to the beige plastic breadbasket",
+    "Take the golden crusted bread slice and the small golden baked bread together and place them into the oval perforated breadbasket white edges.",
+    "Grab both the rectangular bread soft inside and the small golden baked bread, drop into the beige plastic breadbasket.",
+    "Grab two breads the golden bread and the small bread and place in the white oval breadbasket.",
+    "Move the golden brown loaf-shaped bread and the golden brown bread at once into the beige plastic breadbasket.",
+    "Simultaneously grab the golden crusted bread slice and the golden brown bread with braided design, drop in the beige breadbasket.",
+    "Place the bread with firm crust edges and the bread with golden crust in the basket for bread beige plastic using the right arm",
+    "Take the golden bread and the golden brown bread to the oval perforated breadbasket white edges",
+    "Use both arms to move the golden brown loaf-shaped bread, the bread with golden crust to the beige basket with white grid design.",
+    "Pick up both the brown bread loaf and the soft golden bread, then place them in the beige breadbasket.",
+    "Simultaneously grab the bread loaf with square shape and the golden brown bread using the right arm, then drop them in the white oval breadbasket.",
+    "Shift the square loaf of bread and the soft doughy bread together to the medium breadbasket with perforated sides.",
+    "Take the square loaf of bread and the soft golden bread, place them inside the basket for carrying bread beige.",
+    "Shift the golden brown loaf-shaped bread and the bread with golden crust into the beige plastic breadbasket",
+    "Grab the golden crusted bread slice and the bread with golden crust quickly and drop them into the oval perforated breadbasket white edges.",
+    "Grab both the bread with rounded corners and the bread with golden crust with the right arm and place in the medium oval basket for bread.",
+    "Lift the soft golden baked bread and the soft golden bread with two arms, put in the white oval breadbasket.",
+    "Simultaneously use the right arm to drop the square loaf of bread and the round bread with crusty texture in the medium oval basket for bread.",
+    "Put the soft golden baked bread and the soft golden bread into the beige plastic breadbasket using two arms.",
+    "Lift the square loaf of bread and the golden bread loaf with soft inside at once with the right arm, then set them in the oval perforated breadbasket white edges."
+  ],
+  "unseen": [
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread and put them in the white basket with beige bottom.",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the small loaf-shaped bread and the round braided loaf and place in the white basket with beige bottom.",
+    "Pick the bread loaf medium-sized and the round braided loaf and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the small loaf-shaped bread and the round braided loaf, drop in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the palm-sized braided golden bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the braided top round bread and drop it into the breadbasket with hollowed white walls.",
+    "Place the soft rectangular bread loaf and the round braided loaf into the breadbasket with smooth bottom grid sides using the right arm",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the braided top round bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the small loaf-shaped bread and the braided top round bread and drop them into the white basket with beige bottom.",
+    "Use the right arm to pick the small loaf-shaped bread and the palm-sized braided golden bread and place in the breadbasket with hollowed white walls.",
+    "Pick the small loaf-shaped bread and the palm-sized braided golden bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread loaf medium-sized and the braided top round bread, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the bread loaf medium-sized and the braided top round bread, then place them in the white basket with beige bottom.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the bread loaf medium-sized and the palm-sized braided golden bread into the breadbasket with hollowed white walls using the right arm",
+    "Grab the bread loaf medium-sized and the round braided loaf and put them in the breadbasket with hollowed white walls.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the braided top round bread and drop them into the white basket with beige bottom.",
+    "Use the right arm to pick the bread loaf medium-sized and the palm-sized braided golden bread and place in the breadbasket with smooth bottom grid sides.",
+    "Pick the bread loaf medium-sized and the palm-sized braided golden bread and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the small loaf-shaped bread and the palm-sized braided golden bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick up the bread loaf medium-sized and the round braided loaf, then place them in the white basket with beige bottom.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the soft rectangular bread loaf and the round braided loaf into the white basket with beige bottom using the right arm",
+    "Grab the small loaf-shaped bread and the braided top round bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft rectangular bread loaf and the braided top round bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the soft rectangular bread loaf and the braided top round bread and place in the breadbasket with hollowed white walls.",
+    "Pick the small loaf-shaped bread and the braided top round bread and place them in the white basket with beige bottom.",
+    "Use one arm to grab the small loaf-shaped bread and the palm-sized braided golden bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick up the small loaf-shaped bread and the braided top round bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the soft rectangular bread loaf and the palm-sized braided golden bread into the breadbasket with hollowed white walls using the right arm",
+    "Grab the bread loaf medium-sized and the round braided loaf and put them in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread with two arms, place in the white basket with beige bottom.",
+    "Grab the small loaf-shaped bread and the braided top round bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the bread loaf medium-sized and the palm-sized braided golden bread and place in the white basket with beige bottom.",
+    "Pick the small loaf-shaped bread and the round braided loaf and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread loaf medium-sized and the round braided loaf, drop in the white basket with beige bottom.",
+    "Use the right arm to pick up the bread loaf medium-sized and the round braided loaf, then place them in the breadbasket with hollowed white walls.",
+    "Grab the small loaf-shaped bread and the round braided loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the small loaf-shaped bread and the palm-sized braided golden bread into the white basket with beige bottom using the right arm",
+    "Grab the soft rectangular bread loaf and the braided top round bread and put them in the breadbasket with hollowed white walls.",
+    "Grab the soft rectangular bread loaf and the round braided loaf with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop them into the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the small loaf-shaped bread and the round braided loaf and place in the white basket with beige bottom.",
+    "Pick the bread loaf medium-sized and the round braided loaf and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft rectangular bread loaf and the round braided loaf, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the small loaf-shaped bread and the round braided loaf, then place them in the white basket with beige bottom.",
+    "Grab the soft rectangular bread loaf and the braided top round bread and drop it into the white basket with beige bottom.",
+    "Place the soft rectangular bread loaf and the braided top round bread into the breadbasket with hollowed white walls using the right arm",
+    "Grab the bread loaf medium-sized and the braided top round bread and put them in the breadbasket with hollowed white walls.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread with two arms, place in the white basket with beige bottom.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop them into the white basket with beige bottom.",
+    "Use the right arm to pick the soft rectangular bread loaf and the round braided loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Pick the small loaf-shaped bread and the braided top round bread and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the small loaf-shaped bread and the braided top round bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the bread loaf medium-sized and the braided top round bread, then place them in the white basket with beige bottom.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the soft rectangular bread loaf and the round braided loaf into the breadbasket with smooth bottom grid sides using the right arm",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and put them in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf medium-sized and the braided top round bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the bread loaf medium-sized and the palm-sized braided golden bread and place in the white basket with beige bottom.",
+    "Pick the soft rectangular bread loaf and the braided top round bread and place them in the white basket with beige bottom.",
+    "Use one arm to grab the bread loaf medium-sized and the round braided loaf, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the small loaf-shaped bread and the braided top round bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the soft rectangular bread loaf and the round braided loaf into the breadbasket with smooth bottom grid sides using the right arm",
+    "Grab the small loaf-shaped bread and the braided top round bread and put them in the white basket with beige bottom.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and drop them into the white basket with beige bottom.",
+    "Use the right arm to pick the bread loaf medium-sized and the palm-sized braided golden bread and place in the white basket with beige bottom.",
+    "Pick the soft rectangular bread loaf and the braided top round bread and place them in the white basket with beige bottom.",
+    "Use one arm to grab the small loaf-shaped bread and the palm-sized braided golden bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick up the bread loaf medium-sized and the braided top round bread, then place them in the white basket with beige bottom.",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop it into the breadbasket with hollowed white walls.",
+    "Place the small loaf-shaped bread and the palm-sized braided golden bread into the breadbasket with smooth bottom grid sides using the right arm",
+    "Grab the soft rectangular bread loaf and the braided top round bread and put them in the breadbasket with hollowed white walls.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop them into the white basket with beige bottom.",
+    "Use the right arm to pick the bread loaf medium-sized and the round braided loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Pick the small loaf-shaped bread and the palm-sized braided golden bread and place them in the white basket with beige bottom.",
+    "Use one arm to grab the bread loaf medium-sized and the round braided loaf, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the small loaf-shaped bread and the round braided loaf, then place them in the white basket with beige bottom.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop it into the white basket with beige bottom.",
+    "Place the bread loaf medium-sized and the round braided loaf into the white basket with beige bottom using the right arm",
+    "Grab the small loaf-shaped bread and the round braided loaf and put them in the breadbasket with hollowed white walls.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the bread loaf medium-sized and the palm-sized braided golden bread and place in the breadbasket with hollowed white walls.",
+    "Pick the soft rectangular bread loaf and the round braided loaf and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the soft rectangular bread loaf and the braided top round bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the small loaf-shaped bread and the round braided loaf, then place them in the white basket with beige bottom.",
+    "Grab the small loaf-shaped bread and the round braided loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the small loaf-shaped bread and the palm-sized braided golden bread into the breadbasket with smooth bottom grid sides using the right arm",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread and put them in the breadbasket with hollowed white walls."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode25.json b/place_bread_basket/demo_clean/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c41e0f7402c8a07e2bab85448ba99dc35ea6656
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized bread piece for the light beige rectangular breadbasket with the right arm",
+    "Pick up the fluffy baked bread and put it in the breadbasket with textured sides.",
+    "Grab the bread with rounded edges with one hand and set it in the breadbasket for bread storage.",
+    "Put the bread with soft texture into the plastic breadbasket with mesh sides after grabbing it.",
+    "Drop the medium bread with rounded sides into the breadbasket for bread storage",
+    "Grab the soft square bread with an arm and set in the plastic breadbasket with mesh sides.",
+    "Grab the soft square bread, drop it into the plastic breadbasket with mesh sides.",
+    "Pick the golden brown bread and move it to the plastic mesh breadbasket.",
+    "Move the rounded square loaf to the textured beige breadbasket using one arm.",
+    "Put the golden brown bread into the medium rectangular breadbasket using an arm.",
+    "Grab the light brown porous bread with the right arm and drop it in the light and textured breadbasket.",
+    "Use the right arm to grab the bread with soft texture for the light and textured breadbasket",
+    "Lift the golden baked bread and set it in the rectangular breadbasket.",
+    "Pick up the bread with soft texture and drop it in the light and textured breadbasket.",
+    "Use the right arm to grab the sponge-textured golden bread and drop it inside the light and textured breadbasket.",
+    "Lift the golden brown bread and transfer to the light beige rectangular breadbasket.",
+    "Pick the bread with rounded edges and put it into the beige breadbasket for holding bread.",
+    "Grab the bread with soft texture for the medium rectangular breadbasket with the right arm",
+    "Pick up the bread with rounded edges and put it in the plastic breadbasket with mesh sides.",
+    "Grab the sponge-textured golden bread with one hand and set it in the medium rectangular breadbasket.",
+    "Put the bread with soft texture into the beige breadbasket after grabbing it.",
+    "Drop the golden baked bread into the plastic breadbasket with mesh sides",
+    "Grab the light brown porous bread with an arm and set in the textured beige breadbasket.",
+    "Grab the golden baked bread, drop it into the light and textured breadbasket.",
+    "Pick the light brown porous bread and move it to the rectangular breadbasket.",
+    "Move the light brown porous bread to the rectangular breadbasket using one arm.",
+    "Put the medium-sized bread piece into the plastic mesh breadbasket using an arm.",
+    "Grab the light brown porous bread with the right arm and drop it in the plastic mesh breadbasket.",
+    "Use the right arm to grab the fluffy baked bread for the breadbasket for bread storage",
+    "Lift the medium-sized bread piece and set it in the woven light beige breadbasket.",
+    "Pick up the fluffy baked bread and drop it in the textured beige breadbasket.",
+    "Use the right arm to grab the golden brown bread and drop it inside the light beige rectangular breadbasket.",
+    "Lift the square-shaped bread piece and transfer to the rectangular breadbasket.",
+    "Pick the bread with soft texture and put it into the woven light beige breadbasket.",
+    "Grab the rounded square loaf for the medium rectangular breadbasket with the right arm",
+    "Pick up the soft square bread and put it in the beige breadbasket for holding bread.",
+    "Grab the rounded square loaf with one hand and set it in the beige breadbasket for holding bread.",
+    "Put the medium bread with rounded sides into the light and textured breadbasket after grabbing it.",
+    "Drop the sponge-textured golden bread into the breadbasket with textured sides",
+    "Grab the rounded square loaf with an arm and set in the textured beige breadbasket.",
+    "Grab the light brown porous bread, drop it into the breadbasket for bread storage.",
+    "Pick the fluffy baked bread and move it to the beige breadbasket.",
+    "Move the sponge-textured golden bread to the beige breadbasket for holding bread using one arm.",
+    "Put the light brown porous bread into the light and textured breadbasket using an arm.",
+    "Grab the bread with soft texture with the right arm and drop it in the beige breadbasket for holding bread.",
+    "Use the right arm to grab the fluffy baked bread for the medium rectangular breadbasket",
+    "Lift the sponge-textured golden bread and set it in the rectangular breadbasket.",
+    "Pick up the golden brown bread and drop it in the plastic mesh breadbasket.",
+    "Use the right arm to grab the fluffy baked bread and drop it inside the beige breadbasket for holding bread.",
+    "Lift the bread with soft texture and transfer to the rectangular breadbasket.",
+    "Pick the rounded square loaf and put it into the rectangular breadbasket.",
+    "Grab the fluffy baked bread for the woven light beige breadbasket with the right arm",
+    "Pick up the sponge-textured golden bread and put it in the light and textured breadbasket.",
+    "Grab the bread with soft texture with one hand and set it in the medium rectangular breadbasket.",
+    "Put the rounded square loaf into the medium rectangular breadbasket after grabbing it.",
+    "Drop the golden baked bread into the breadbasket with textured sides",
+    "Grab the bread with rounded edges with an arm and set in the medium rectangular breadbasket.",
+    "Grab the bread with soft texture, drop it into the breadbasket for bread storage.",
+    "Pick the bread with rounded edges and move it to the woven light beige breadbasket.",
+    "Move the sponge-textured golden bread to the woven light beige breadbasket using one arm.",
+    "Put the rounded square loaf into the breadbasket for bread storage using an arm.",
+    "Grab the medium-sized bread piece with the right arm and drop it in the woven light beige breadbasket.",
+    "Use the right arm to grab the light brown porous bread for the textured beige breadbasket",
+    "Lift the sponge-textured golden bread and set it in the light beige rectangular breadbasket.",
+    "Pick up the light brown porous bread and drop it in the rectangular breadbasket.",
+    "Use the right arm to grab the golden baked bread and drop it inside the breadbasket for bread storage.",
+    "Lift the sponge-textured golden bread and transfer to the woven light beige breadbasket.",
+    "Pick the square-shaped bread piece and put it into the plastic breadbasket with mesh sides.",
+    "Grab the medium bread with rounded sides for the medium rectangular breadbasket with the right arm",
+    "Pick up the rounded square loaf and put it in the woven light beige breadbasket.",
+    "Grab the medium bread with rounded sides with one hand and set it in the light and textured breadbasket.",
+    "Put the soft square bread into the breadbasket with textured sides after grabbing it.",
+    "Drop the light brown porous bread into the medium rectangular breadbasket",
+    "Grab the medium bread with rounded sides with an arm and set in the breadbasket for bread storage.",
+    "Grab the bread with soft texture, drop it into the woven light beige breadbasket.",
+    "Pick the sponge-textured golden bread and move it to the light and textured breadbasket.",
+    "Move the soft square bread to the medium rectangular breadbasket using one arm.",
+    "Put the light brown porous bread into the beige breadbasket for holding bread using an arm.",
+    "Grab the golden baked bread with the right arm and drop it in the beige breadbasket.",
+    "Use the right arm to grab the bread with soft texture for the woven light beige breadbasket",
+    "Lift the soft square bread and set it in the medium rectangular breadbasket.",
+    "Pick up the bread with soft texture and drop it in the plastic mesh breadbasket.",
+    "Use the right arm to grab the sponge-textured golden bread and drop it inside the breadbasket for bread storage.",
+    "Lift the rounded square loaf and transfer to the breadbasket for bread storage.",
+    "Pick the medium bread with rounded sides and put it into the plastic breadbasket with mesh sides.",
+    "Grab the rounded square loaf for the plastic breadbasket with mesh sides with the right arm",
+    "Pick up the square-shaped bread piece and put it in the light beige rectangular breadbasket.",
+    "Grab the medium-sized bread piece with one hand and set it in the textured beige breadbasket.",
+    "Put the rounded square loaf into the breadbasket for bread storage after grabbing it.",
+    "Drop the bread with rounded edges into the light beige rectangular breadbasket",
+    "Grab the square-shaped bread piece with an arm and set in the light and textured breadbasket.",
+    "Grab the medium-sized bread piece, drop it into the breadbasket with textured sides.",
+    "Pick the square-shaped bread piece and move it to the plastic mesh breadbasket.",
+    "Move the light brown porous bread to the breadbasket for bread storage using one arm.",
+    "Put the sponge-textured golden bread into the rectangular breadbasket using an arm.",
+    "Grab the rounded square loaf with the right arm and drop it in the rectangular breadbasket.",
+    "Use the right arm to grab the light brown porous bread for the textured beige breadbasket",
+    "Lift the soft square bread and set it in the beige breadbasket for holding bread.",
+    "Pick up the bread with rounded edges and drop it in the medium rectangular breadbasket.",
+    "Use the right arm to grab the fluffy baked bread and drop it inside the rectangular breadbasket."
+  ],
+  "unseen": [
+    "Grab the spongy golden brown bread with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with woven pattern.",
+    "Pick the soft bread with golden edges and drop it in the shallow rectangular breadbasket",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and place it in the woven shallow breadbasket.",
+    "Place the square bread with light spots into the woven shallow breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and put it in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges with one arm, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Pick the square bread with light spots and drop it in the woven shallow breadbasket",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the shallow rectangular breadbasket.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with woven pattern.",
+    "Place the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the shallow rectangular breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the woven shallow breadbasket",
+    "Grab the soft bread with golden edges and drop it into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick the spongy golden brown bread and place in the woven shallow breadbasket.",
+    "Pick the spongy golden brown bread and place it in the woven shallow breadbasket.",
+    "Place the spongy golden brown bread into the breadbasket with woven pattern using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with woven pattern",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick the spongy golden brown bread and place in the breadbasket with woven pattern.",
+    "Pick the soft bread with golden edges and place it in the woven shallow breadbasket.",
+    "Place the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and put it in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and drop it in the shallow rectangular breadbasket",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with woven pattern.",
+    "Pick the spongy golden brown bread and place it in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges into the woven shallow breadbasket using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges with one arm, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the shallow rectangular breadbasket",
+    "Grab the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Grab the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with woven pattern.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with woven pattern.",
+    "Place the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the shallow rectangular breadbasket",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the breadbasket with woven pattern.",
+    "Pick the soft bread with golden edges and place it in the shallow rectangular breadbasket.",
+    "Place the spongy golden brown bread into the breadbasket with woven pattern using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and put it in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the woven shallow breadbasket",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Grab the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with woven pattern.",
+    "Place the spongy golden brown bread into the breadbasket with woven pattern using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and put it in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with woven pattern",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the woven shallow breadbasket.",
+    "Pick the soft bread with golden edges and place it in the woven shallow breadbasket.",
+    "Place the soft bread with golden edges into the woven shallow breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and put it in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft bread with golden edges, drop in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the shallow rectangular breadbasket",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and place it in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges into the breadbasket with woven pattern using the right arm",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the shallow rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode26.json b/place_bread_basket/demo_clean/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..cce1520bf3f69749bff2b94ee92fba9f6fc99c94
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the square loaf of bread and move it to the breadbasket for bread storage.",
+    "Pick up the bread with golden surface color and put it in the woven light beige breadbasket.",
+    "Grab the soft golden baked bread with an arm and set in the light and textured breadbasket.",
+    "Put the bread with rounded corners into the beige breadbasket using an arm.",
+    "Grab the golden crusted bread slice with the right arm and drop it in the plastic breadbasket with mesh sides.",
+    "Move the square loaf of bread to the woven light beige breadbasket using one arm.",
+    "Use the right arm to grab the bread loaf with square shape for the plastic breadbasket with mesh sides",
+    "Lift the slice-shaped bread and transfer to the light and textured breadbasket.",
+    "Grab the bread with firm crust edges, drop it into the light and textured breadbasket.",
+    "Drop the golden brown loaf-shaped bread into the breadbasket for bread storage",
+    "Use the right arm to grab the soft golden baked bread and drop it inside the light and textured breadbasket.",
+    "Grab the bread with golden surface color with one hand and set it in the plastic breadbasket with mesh sides.",
+    "Grab the bread loaf with square shape for the breadbasket with textured sides with the right arm",
+    "Pick up the bread loaf with square shape and drop it in the medium rectangular breadbasket.",
+    "Lift the golden bread and set it in the woven light beige breadbasket.",
+    "Put the bread with rounded corners into the beige breadbasket after grabbing it.",
+    "Pick the brown bread loaf and put it into the rectangular breadbasket.",
+    "Pick the bread with firm crust edges and move it to the beige breadbasket.",
+    "Pick up the bread loaf with square shape and put it in the textured beige breadbasket.",
+    "Grab the square loaf of bread with an arm and set in the medium rectangular breadbasket.",
+    "Put the slice-shaped bread into the breadbasket for bread storage using an arm.",
+    "Grab the rectangular bread soft inside with the right arm and drop it in the light beige rectangular breadbasket.",
+    "Move the golden crusted bread slice to the beige breadbasket using one arm.",
+    "Use the right arm to grab the slice-shaped bread for the woven light beige breadbasket",
+    "Lift the rectangular bread soft inside and transfer to the plastic breadbasket with mesh sides.",
+    "Grab the bread with golden surface color, drop it into the beige breadbasket.",
+    "Drop the soft golden baked bread into the medium rectangular breadbasket",
+    "Use the right arm to grab the slice-shaped bread and drop it inside the textured beige breadbasket.",
+    "Grab the slice-shaped bread with one hand and set it in the beige breadbasket for holding bread.",
+    "Grab the golden bread for the beige breadbasket for holding bread with the right arm",
+    "Pick up the bread with firm crust edges and drop it in the medium rectangular breadbasket.",
+    "Lift the golden crusted bread slice and set it in the plastic mesh breadbasket.",
+    "Put the rectangular bread soft inside into the beige breadbasket after grabbing it.",
+    "Pick the bread loaf with square shape and put it into the light beige rectangular breadbasket.",
+    "Pick the soft golden baked bread and move it to the breadbasket with textured sides.",
+    "Pick up the square loaf of bread and put it in the light and textured breadbasket.",
+    "Grab the golden bread with an arm and set in the plastic mesh breadbasket.",
+    "Put the brown bread loaf into the plastic breadbasket with mesh sides using an arm.",
+    "Grab the bread with rounded corners with the right arm and drop it in the light beige rectangular breadbasket.",
+    "Move the bread loaf with square shape to the plastic breadbasket with mesh sides using one arm.",
+    "Use the right arm to grab the golden crusted bread slice for the beige breadbasket",
+    "Lift the slice-shaped bread and transfer to the light beige rectangular breadbasket.",
+    "Grab the rectangular bread soft inside, drop it into the rectangular breadbasket.",
+    "Drop the golden bread into the textured beige breadbasket",
+    "Use the right arm to grab the rectangular bread soft inside and drop it inside the beige breadbasket.",
+    "Grab the rectangular bread soft inside with one hand and set it in the woven light beige breadbasket.",
+    "Grab the bread with golden surface color for the beige breadbasket for holding bread with the right arm",
+    "Pick up the rectangular bread soft inside and drop it in the woven light beige breadbasket.",
+    "Lift the bread with golden surface color and set it in the plastic breadbasket with mesh sides.",
+    "Put the bread loaf with square shape into the rectangular breadbasket after grabbing it.",
+    "Pick the bread with firm crust edges and put it into the light and textured breadbasket.",
+    "Pick the slice-shaped bread and move it to the rectangular breadbasket.",
+    "Pick up the square loaf of bread and put it in the plastic breadbasket with mesh sides.",
+    "Grab the brown bread loaf with an arm and set in the textured beige breadbasket.",
+    "Put the golden bread into the breadbasket for bread storage using an arm.",
+    "Grab the bread with firm crust edges with the right arm and drop it in the beige breadbasket for holding bread.",
+    "Move the golden crusted bread slice to the medium rectangular breadbasket using one arm.",
+    "Use the right arm to grab the golden crusted bread slice for the beige breadbasket for holding bread",
+    "Lift the soft golden baked bread and transfer to the beige breadbasket for holding bread.",
+    "Grab the slice-shaped bread, drop it into the textured beige breadbasket.",
+    "Drop the bread loaf with square shape into the beige breadbasket",
+    "Use the right arm to grab the rectangular bread soft inside and drop it inside the breadbasket with textured sides.",
+    "Grab the rectangular bread soft inside with one hand and set it in the light beige rectangular breadbasket.",
+    "Grab the soft golden baked bread for the breadbasket for bread storage with the right arm",
+    "Pick up the golden crusted bread slice and drop it in the beige breadbasket.",
+    "Lift the golden crusted bread slice and set it in the light beige rectangular breadbasket.",
+    "Put the golden brown loaf-shaped bread into the plastic breadbasket with mesh sides after grabbing it.",
+    "Pick the bread with golden surface color and put it into the breadbasket for bread storage.",
+    "Pick the bread with firm crust edges and move it to the beige breadbasket for holding bread.",
+    "Pick up the golden bread and put it in the plastic breadbasket with mesh sides.",
+    "Grab the square loaf of bread with an arm and set in the beige breadbasket for holding bread.",
+    "Put the golden crusted bread slice into the medium rectangular breadbasket using an arm.",
+    "Grab the bread with firm crust edges with the right arm and drop it in the woven light beige breadbasket.",
+    "Move the square loaf of bread to the breadbasket for bread storage using one arm.",
+    "Use the right arm to grab the bread with firm crust edges for the beige breadbasket for holding bread",
+    "Lift the brown bread loaf and transfer to the breadbasket for bread storage.",
+    "Grab the golden brown loaf-shaped bread, drop it into the plastic breadbasket with mesh sides.",
+    "Drop the bread with firm crust edges into the light beige rectangular breadbasket",
+    "Use the right arm to grab the golden bread and drop it inside the beige breadbasket.",
+    "Grab the slice-shaped bread with one hand and set it in the beige breadbasket.",
+    "Grab the golden brown loaf-shaped bread for the plastic breadbasket with mesh sides with the right arm",
+    "Pick up the golden brown loaf-shaped bread and drop it in the beige breadbasket for holding bread.",
+    "Lift the square loaf of bread and set it in the light beige rectangular breadbasket.",
+    "Put the golden bread into the beige breadbasket for holding bread after grabbing it.",
+    "Pick the bread with golden surface color and put it into the woven light beige breadbasket.",
+    "Pick the soft golden baked bread and move it to the beige breadbasket.",
+    "Pick up the golden crusted bread slice and put it in the rectangular breadbasket.",
+    "Grab the brown bread loaf with an arm and set in the plastic breadbasket with mesh sides.",
+    "Put the rectangular bread soft inside into the textured beige breadbasket using an arm.",
+    "Grab the golden crusted bread slice with the right arm and drop it in the rectangular breadbasket.",
+    "Move the soft golden baked bread to the light beige rectangular breadbasket using one arm.",
+    "Use the right arm to grab the golden bread for the beige breadbasket",
+    "Lift the square loaf of bread and transfer to the light and textured breadbasket.",
+    "Grab the bread with golden surface color, drop it into the medium rectangular breadbasket.",
+    "Drop the bread loaf with square shape into the medium rectangular breadbasket",
+    "Use the right arm to grab the bread loaf with square shape and drop it inside the breadbasket with textured sides.",
+    "Grab the golden crusted bread slice with one hand and set it in the breadbasket with textured sides.",
+    "Grab the square loaf of bread for the beige breadbasket with the right arm",
+    "Pick up the golden brown loaf-shaped bread and drop it in the textured beige breadbasket.",
+    "Lift the bread with rounded corners and set it in the breadbasket with textured sides."
+  ],
+  "unseen": [
+    "Grab the small loaf-shaped bread and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread with one arm, place in the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick up the bread loaf medium-sized, then place it in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and put it in the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread into the shallow rectangular breadbasket using the right arm",
+    "Use one arm to grab the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized with one arm, place in the woven shallow breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Place the small loaf-shaped bread into the woven shallow breadbasket using the right arm",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread with one arm, place in the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and drop it in the breadbasket with woven pattern",
+    "Use the right arm to pick up the small loaf-shaped bread, then place it in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and put it in the breadbasket with woven pattern.",
+    "Pick the bread loaf medium-sized and place it in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the shallow rectangular breadbasket.",
+    "Place the bread loaf medium-sized into the breadbasket with woven pattern using the right arm",
+    "Use one arm to grab the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread with one arm, place in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick up the small loaf-shaped bread, then place it in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and place it in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf into the shallow rectangular breadbasket using the right arm",
+    "Use one arm to grab the small loaf-shaped bread, drop in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick the soft rectangular bread loaf and place in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf with one arm, place in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and drop it in the breadbasket with woven pattern",
+    "Use the right arm to pick up the bread loaf medium-sized, then place it in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and put it in the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Place the bread loaf medium-sized into the breadbasket with woven pattern using the right arm",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized with one arm, place in the breadbasket with woven pattern.",
+    "Pick the bread loaf medium-sized and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and place it in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf into the breadbasket with woven pattern using the right arm",
+    "Use one arm to grab the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized with one arm, place in the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the bread loaf medium-sized, then place it in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and place it in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Place the soft rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Use one arm to grab the small loaf-shaped bread, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized with one arm, place in the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the breadbasket with woven pattern.",
+    "Pick the soft rectangular bread loaf and place it in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Use one arm to grab the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf with one arm, place in the breadbasket with woven pattern.",
+    "Pick the soft rectangular bread loaf and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and put it in the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and place it in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the shallow rectangular breadbasket.",
+    "Place the soft rectangular bread loaf into the shallow rectangular breadbasket using the right arm",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized with one arm, place in the breadbasket with woven pattern.",
+    "Pick the bread loaf medium-sized and drop it in the breadbasket with woven pattern",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and put it in the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the shallow rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode27.json b/place_bread_basket/demo_clean/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ee06d8696837e2ee3cdf066b60cc78cd47c611d
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the soft doughy bread and the small bread with two arms, put in the breadbasket with rounded edges.",
+    "Shift the soft golden bread and the bread with golden crust together to the brown breadbasket.",
+    "Simultaneously grab the bread with golden crust and the golden brown bread, drop in the light brown basket for bread.",
+    "Grab two breads the golden brown bread with braided design and the golden bread loaf with soft inside and place in the breadbasket with wicker weave pattern.",
+    "Grab the soft golden bread and the small bread quickly and drop them into the medium woven breadbasket.",
+    "Lift the bread with golden crust and the small golden baked bread at once with the dual arm, then set them in the light brown wicker breadbasket.",
+    "Simultaneously grab the bread with golden crust and the round bread with crusty texture using the dual arm, then drop them in the woven rectangular breadbasket.",
+    "Use both arms to move the smooth crusty small bread, the golden brown bread with braided design to the breadbasket with rounded edges.",
+    "Put the round bread with crusty texture and the bread with golden crust into the breadbasket with wicker weave pattern using two arms.",
+    "Take the small golden baked bread and the bread with golden crust, place them inside the breadbasket with rounded edges.",
+    "Place the golden brown bread and the braided bread loaf in the medium woven breadbasket using the dual arm",
+    "Take the golden brown bread with braided design and the soft doughy bread to the medium woven breadbasket",
+    "Grab both the smooth crusty small bread and the soft golden bread with the dual arm and place in the brown breadbasket with rounded corners.",
+    "Move the golden bread loaf with soft inside and the soft golden bread at once into the light brown wicker breadbasket.",
+    "Simultaneously use the dual arm to drop the round bread with braided top and the small golden baked bread in the medium-sized rectangular breadbasket.",
+    "Pick the round bread with braided top and the round bread with crusty texture, place them in the breadbasket for holding bread.",
+    "Pick the golden brown bread and the round bread with braided top for the the breadbasket for holding bread",
+    "Move the braided bread loaf and the smooth crusty small bread to the smooth textured brown breadbasket",
+    "Grab both the small golden baked bread and the soft golden bread, drop into the breadbasket with rounded edges.",
+    "Take the round bread with crusty texture and the small golden baked bread together and place them into the light brown basket for bread.",
+    "Use the dual arm to place the braided bread loaf and the soft doughy bread into the brown breadbasket with rounded corners.",
+    "Pick up both the soft doughy bread and the golden brown bread with braided design, then place them in the brown breadbasket with rounded corners.",
+    "Take the golden brown bread and the braided bread loaf then place in the brown breadbasket.",
+    "Shift the golden bread loaf with soft inside and the round bread with crusty texture into the breadbasket with wicker weave pattern",
+    "Pick the round bread with crusty texture and the golden brown bread with braided design and set them in the breadbasket with smooth woven texture.",
+    "Use two arms and set the small golden baked bread, the smooth crusty small bread in the breadbasket with wicker weave pattern.",
+    "Lift the round bread with crusty texture and the small golden baked bread with two arms, put in the medium woven breadbasket.",
+    "Shift the soft golden bread and the soft doughy bread together to the light brown wicker breadbasket.",
+    "Simultaneously grab the small golden baked bread and the small bread, drop in the light brown wicker breadbasket.",
+    "Grab two breads the smooth crusty small bread and the golden brown bread with braided design and place in the light brown basket for bread.",
+    "Grab the golden bread loaf with soft inside and the braided bread loaf quickly and drop them into the medium-sized rectangular breadbasket.",
+    "Lift the smooth crusty small bread and the round bread with crusty texture at once with the dual arm, then set them in the light brown wicker breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the golden brown bread using the dual arm, then drop them in the woven rectangular breadbasket.",
+    "Use both arms to move the smooth crusty small bread, the golden brown bread with braided design to the brown breadbasket.",
+    "Put the round bread with braided top and the golden bread loaf with soft inside into the breadbasket with rounded edges using two arms.",
+    "Take the round bread with crusty texture and the round bread with braided top, place them inside the breadbasket for holding bread.",
+    "Place the round bread with braided top and the round bread with braided top in the medium woven breadbasket using the dual arm",
+    "Take the golden bread loaf with soft inside and the round bread with crusty texture to the breadbasket for holding bread",
+    "Grab both the small bread and the golden brown bread with the dual arm and place in the brown breadbasket with rounded corners.",
+    "Move the golden brown bread with braided design and the golden brown bread at once into the breadbasket with smooth woven texture.",
+    "Simultaneously use the dual arm to drop the round bread with braided top and the small bread in the woven rectangular breadbasket.",
+    "Pick the small golden baked bread and the round bread with braided top, place them in the light brown basket for bread.",
+    "Pick the golden brown bread with braided design and the small golden baked bread for the the smooth textured brown breadbasket",
+    "Move the golden brown bread with braided design and the braided bread loaf to the brown breadbasket with rounded corners",
+    "Grab both the round bread with crusty texture and the soft golden bread, drop into the medium woven breadbasket.",
+    "Take the small bread and the golden brown bread with braided design together and place them into the woven rectangular breadbasket.",
+    "Use the dual arm to place the small bread and the smooth crusty small bread into the woven rectangular breadbasket.",
+    "Pick up both the bread with golden crust and the smooth crusty small bread, then place them in the breadbasket with rounded edges.",
+    "Take the soft golden bread and the golden brown bread then place in the light brown basket for bread.",
+    "Shift the small bread and the soft doughy bread into the woven rectangular breadbasket",
+    "Pick the round bread with crusty texture and the smooth crusty small bread and set them in the smooth textured brown breadbasket.",
+    "Use two arms and set the golden brown bread with braided design, the golden brown bread in the woven rectangular breadbasket.",
+    "Lift the small golden baked bread and the golden brown bread with two arms, put in the smooth textured brown breadbasket.",
+    "Shift the bread with golden crust and the braided bread loaf together to the brown breadbasket with rounded corners.",
+    "Simultaneously grab the golden bread loaf with soft inside and the soft doughy bread, drop in the smooth textured brown breadbasket.",
+    "Grab two breads the round bread with braided top and the soft doughy bread and place in the smooth textured brown breadbasket.",
+    "Grab the round bread with crusty texture and the smooth crusty small bread quickly and drop them into the breadbasket with rounded edges.",
+    "Lift the soft golden bread and the round bread with braided top at once with the dual arm, then set them in the woven rectangular breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the soft golden bread using the dual arm, then drop them in the breadbasket with rounded edges.",
+    "Use both arms to move the soft doughy bread, the golden bread loaf with soft inside to the brown breadbasket.",
+    "Put the golden brown bread and the small bread into the breadbasket with wicker weave pattern using two arms.",
+    "Take the golden bread loaf with soft inside and the braided bread loaf, place them inside the brown breadbasket.",
+    "Place the soft golden bread and the small bread in the medium woven breadbasket using the dual arm",
+    "Take the soft golden bread and the golden brown bread to the light brown wicker breadbasket",
+    "Grab both the braided bread loaf and the bread with golden crust with the dual arm and place in the breadbasket with smooth woven texture.",
+    "Move the soft doughy bread and the small golden baked bread at once into the brown breadbasket.",
+    "Simultaneously use the dual arm to drop the soft doughy bread and the golden brown bread in the smooth textured brown breadbasket.",
+    "Pick the soft golden bread and the soft golden bread, place them in the breadbasket with smooth woven texture.",
+    "Pick the small golden baked bread and the smooth crusty small bread for the the breadbasket for holding bread",
+    "Move the round bread with crusty texture and the small bread to the breadbasket with wicker weave pattern",
+    "Grab both the soft doughy bread and the round bread with braided top, drop into the light brown wicker breadbasket.",
+    "Take the small bread and the small golden baked bread together and place them into the light brown wicker breadbasket.",
+    "Use the dual arm to place the round bread with braided top and the bread with golden crust into the medium-sized rectangular breadbasket.",
+    "Pick up both the golden brown bread with braided design and the round bread with braided top, then place them in the breadbasket with rounded edges.",
+    "Take the round bread with braided top and the soft golden bread then place in the brown breadbasket with rounded corners.",
+    "Shift the braided bread loaf and the soft golden bread into the smooth textured brown breadbasket",
+    "Pick the bread with golden crust and the braided bread loaf and set them in the breadbasket for holding bread.",
+    "Use two arms and set the bread with golden crust, the golden bread loaf with soft inside in the breadbasket with smooth woven texture.",
+    "Lift the round bread with crusty texture and the soft golden bread with two arms, put in the medium woven breadbasket.",
+    "Shift the golden brown bread with braided design and the round bread with braided top together to the medium-sized rectangular breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the small golden baked bread, drop in the smooth textured brown breadbasket.",
+    "Grab two breads the golden brown bread with braided design and the braided bread loaf and place in the brown breadbasket with rounded corners.",
+    "Grab the bread with golden crust and the round bread with crusty texture quickly and drop them into the light brown basket for bread.",
+    "Lift the soft doughy bread and the round bread with braided top at once with the dual arm, then set them in the breadbasket with wicker weave pattern.",
+    "Simultaneously grab the soft doughy bread and the golden bread loaf with soft inside using the dual arm, then drop them in the breadbasket with wicker weave pattern.",
+    "Use both arms to move the soft doughy bread, the smooth crusty small bread to the medium-sized rectangular breadbasket.",
+    "Put the smooth crusty small bread and the small bread into the smooth textured brown breadbasket using two arms.",
+    "Take the golden bread loaf with soft inside and the small bread, place them inside the brown breadbasket.",
+    "Place the round bread with braided top and the braided bread loaf in the breadbasket with wicker weave pattern using the dual arm",
+    "Take the braided bread loaf and the soft golden bread to the breadbasket with rounded edges",
+    "Grab both the soft golden bread and the small bread with the dual arm and place in the medium woven breadbasket.",
+    "Move the round bread with crusty texture and the bread with golden crust at once into the medium woven breadbasket.",
+    "Simultaneously use the dual arm to drop the golden brown bread with braided design and the round bread with crusty texture in the breadbasket with rounded edges.",
+    "Pick the small bread and the braided bread loaf, place them in the brown breadbasket with rounded corners.",
+    "Pick the golden bread loaf with soft inside and the bread with golden crust for the the medium woven breadbasket",
+    "Move the bread with golden crust and the round bread with crusty texture to the woven rectangular breadbasket",
+    "Grab both the bread with golden crust and the bread with golden crust, drop into the light brown wicker breadbasket.",
+    "Take the round bread with braided top and the bread with golden crust together and place them into the medium woven breadbasket.",
+    "Use the dual arm to place the golden brown bread with braided design and the smooth crusty small bread into the light brown basket for bread.",
+    "Pick up both the soft doughy bread and the smooth crusty small bread, then place them in the breadbasket with rounded edges."
+  ],
+  "unseen": [
+    "Grab the round braided loaf and the palm-sized braided golden bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the round braided loaf and put them in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the braided top round bread into the rectangular breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread with two arms, place in the rectangular breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the palm-sized braided golden bread and place in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf and drop it into the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the braided top round bread and place them in the rectangular breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the braided top round bread, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the round braided loaf, then place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop them into the medium light brown breadbasket.",
+    "Grab the braided top round bread and the round braided loaf and put them in the medium light brown breadbasket.",
+    "Place the braided top round bread and the round braided loaf into the rectangular light brown breadbasket using the dual arm",
+    "Grab the round braided loaf and the braided top round bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the palm-sized braided golden bread and place in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and drop it into the rectangular breadbasket.",
+    "Pick the round braided loaf and the round braided loaf and place them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the palm-sized braided golden bread, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the palm-sized braided golden bread, then place them in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf and drop them into the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and put them in the medium light brown breadbasket.",
+    "Place the round braided loaf and the round braided loaf into the rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the palm-sized braided golden bread with two arms, place in the rectangular breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop it into the medium light brown breadbasket.",
+    "Pick the round braided loaf and the palm-sized braided golden bread and place them in the rectangular breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the palm-sized braided golden bread, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the round braided loaf, then place them in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and drop them into the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf and put them in the rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the round braided loaf into the rectangular breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the braided top round bread with two arms, place in the medium light brown breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the palm-sized braided golden bread and place in the rectangular breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and drop it into the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the round braided loaf and place them in the rectangular breadbasket.",
+    "Use one arm to grab the braided top round bread and the round braided loaf, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the palm-sized braided golden bread, then place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and put them in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the palm-sized braided golden bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the round braided loaf and place in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop it into the medium light brown breadbasket.",
+    "Pick the braided top round bread and the round braided loaf and place them in the rectangular breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the braided top round bread, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the braided top round bread, then place them in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the round braided loaf and drop them into the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and put them in the rectangular breadbasket.",
+    "Place the round braided loaf and the palm-sized braided golden bread into the medium light brown breadbasket using the dual arm",
+    "Grab the braided top round bread and the round braided loaf with two arms, place in the rectangular breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the braided top round bread and place in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the braided top round bread and drop it into the rectangular light brown breadbasket.",
+    "Pick the palm-sized braided golden bread and the round braided loaf and place them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the palm-sized braided golden bread, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the braided top round bread, then place them in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop them into the medium light brown breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and put them in the rectangular breadbasket.",
+    "Place the round braided loaf and the palm-sized braided golden bread into the medium light brown breadbasket using the dual arm",
+    "Grab the braided top round bread and the palm-sized braided golden bread with two arms, place in the rectangular breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the palm-sized braided golden bread and place in the rectangular breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and drop it into the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the braided top round bread and place them in the rectangular breadbasket.",
+    "Use one arm to grab the round braided loaf and the palm-sized braided golden bread, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the braided top round bread, then place them in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and drop them into the medium light brown breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and put them in the rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the palm-sized braided golden bread into the rectangular breadbasket using the dual arm",
+    "Grab the round braided loaf and the palm-sized braided golden bread with two arms, place in the medium light brown breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the round braided loaf and place in the rectangular breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and drop it into the rectangular breadbasket.",
+    "Pick the round braided loaf and the braided top round bread and place them in the medium light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the palm-sized braided golden bread, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the palm-sized braided golden bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the braided top round bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and put them in the rectangular breadbasket.",
+    "Place the braided top round bread and the braided top round bread into the rectangular breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the braided top round bread with two arms, place in the rectangular breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the braided top round bread and place in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and drop it into the rectangular light brown breadbasket.",
+    "Pick the palm-sized braided golden bread and the round braided loaf and place them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the palm-sized braided golden bread, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the round braided loaf, then place them in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and put them in the rectangular breadbasket.",
+    "Place the round braided loaf and the braided top round bread into the medium light brown breadbasket using the dual arm",
+    "Grab the round braided loaf and the round braided loaf with two arms, place in the rectangular breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the braided top round bread and place in the rectangular breadbasket.",
+    "Grab the round braided loaf and the round braided loaf and drop it into the rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the round braided loaf and place them in the medium light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the round braided loaf, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the round braided loaf, then place them in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and drop them into the medium light brown breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and put them in the medium light brown breadbasket.",
+    "Place the braided top round bread and the round braided loaf into the rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the palm-sized braided golden bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the palm-sized braided golden bread and place in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and drop it into the rectangular light brown breadbasket.",
+    "Pick the palm-sized braided golden bread and the palm-sized braided golden bread and place them in the medium light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the palm-sized braided golden bread, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the round braided loaf, then place them in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and drop them into the rectangular light brown breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode28.json b/place_bread_basket/demo_clean/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..80a032d598ab1663900ec65dcb9cc2f0995d8c9d
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simultaneously grab the brown bread loaf and the square-shaped bread using the right arm, then drop them in the light beige rectangular breadbasket.",
+    "Pick the rectangular bread soft inside and the hand-sized bread block for the the plastic mesh breadbasket",
+    "Put the rectangular bread soft inside and the golden bread loaf into the breadbasket with textured sides using two arms.",
+    "Shift the golden brown loaf-shaped bread and the bread loaf with bumpy surface into the medium rectangular breadbasket",
+    "Take the bread with rounded corners and the soft bread then place in the breadbasket for bread storage.",
+    "Grab both the golden bread and the bread block with light patches, drop into the light and textured breadbasket.",
+    "Grab the brown bread loaf and the bread loaf with uneven edges quickly and drop them into the rectangular breadbasket.",
+    "Use two arms and set the bread with firm crust edges, the doughy and soft bread in the woven light beige breadbasket.",
+    "Take the golden bread and the bread block with light patches to the light beige rectangular breadbasket",
+    "Take the golden crusted bread slice and the bread loaf with uneven edges, place them inside the medium rectangular breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the bread loaf with bumpy surface, drop in the light and textured breadbasket.",
+    "Simultaneously use the right arm to drop the bread with rounded corners and the soft bread in the medium rectangular breadbasket.",
+    "Take the golden crusted bread slice and the bread loaf with bumpy surface together and place them into the woven light beige breadbasket.",
+    "Lift the soft golden baked bread and the doughy and soft bread with two arms, put in the medium rectangular breadbasket.",
+    "Move the golden bread and the bread with rough texture to the woven light beige breadbasket",
+    "Grab two breads the bread with rounded corners and the golden bread loaf and place in the woven light beige breadbasket.",
+    "Use the right arm to place the bread loaf with square shape and the square-shaped bread into the plastic mesh breadbasket.",
+    "Place the golden brown loaf-shaped bread and the bread loaf with bumpy surface in the light beige rectangular breadbasket using the right arm",
+    "Pick the bread with rounded corners and the square-shaped bread, place them in the rectangular breadbasket.",
+    "Use both arms to move the golden bread, the bread loaf with bumpy surface to the plastic breadbasket with mesh sides.",
+    "Grab both the bread with firm crust edges and the bread block with light patches with the right arm and place in the plastic mesh breadbasket.",
+    "Lift the golden brown loaf-shaped bread and the light golden brown bread at once with the right arm, then set them in the light and textured breadbasket.",
+    "Move the golden bread and the golden bread at once into the woven light beige breadbasket.",
+    "Pick the golden bread and the hand-sized bread block and set them in the beige breadbasket for holding bread.",
+    "Shift the golden crusted bread slice and the golden bread loaf together to the beige breadbasket.",
+    "Pick up both the golden brown loaf-shaped bread and the soft bread, then place them in the light and textured breadbasket.",
+    "Simultaneously grab the rectangular bread soft inside and the golden bread using the right arm, then drop them in the beige breadbasket for holding bread.",
+    "Pick the square loaf of bread and the bread block with light patches for the the plastic mesh breadbasket",
+    "Put the golden brown loaf-shaped bread and the golden bread loaf into the light beige rectangular breadbasket using two arms.",
+    "Shift the rectangular bread soft inside and the cuboid bread into the medium rectangular breadbasket",
+    "Take the brown bread loaf and the bread loaf with bumpy surface then place in the beige breadbasket.",
+    "Grab both the bread loaf with square shape and the soft bread, drop into the breadbasket for bread storage.",
+    "Grab the bread with golden surface color and the bread loaf with uneven edges quickly and drop them into the medium rectangular breadbasket.",
+    "Use two arms and set the golden brown loaf-shaped bread, the bread loaf with bumpy surface in the medium rectangular breadbasket.",
+    "Take the golden crusted bread slice and the bread loaf with bumpy surface to the light beige rectangular breadbasket",
+    "Take the bread with rounded corners and the square-shaped bread, place them inside the textured beige breadbasket.",
+    "Simultaneously grab the bread with rounded corners and the bread loaf with uneven edges, drop in the light and textured breadbasket.",
+    "Simultaneously use the right arm to drop the rectangular bread soft inside and the bread loaf with uneven edges in the plastic breadbasket with mesh sides.",
+    "Take the bread with firm crust edges and the cuboid bread together and place them into the light beige rectangular breadbasket.",
+    "Lift the golden bread and the doughy and soft bread with two arms, put in the beige breadbasket.",
+    "Move the soft golden baked bread and the bread with rough texture to the woven light beige breadbasket",
+    "Grab two breads the golden brown loaf-shaped bread and the bread block with light patches and place in the beige breadbasket for holding bread.",
+    "Use the right arm to place the golden brown loaf-shaped bread and the golden bread into the light beige rectangular breadbasket.",
+    "Place the brown bread loaf and the bread loaf with uneven edges in the textured beige breadbasket using the right arm",
+    "Pick the golden crusted bread slice and the doughy and soft bread, place them in the light beige rectangular breadbasket.",
+    "Use both arms to move the rectangular bread soft inside, the bread block with light patches to the plastic mesh breadbasket.",
+    "Grab both the rectangular bread soft inside and the soft bread with the right arm and place in the plastic breadbasket with mesh sides.",
+    "Lift the bread loaf with square shape and the soft bread at once with the right arm, then set them in the woven light beige breadbasket.",
+    "Move the bread loaf with square shape and the bread loaf with bumpy surface at once into the textured beige breadbasket.",
+    "Pick the bread loaf with square shape and the bread block with light patches and set them in the rectangular breadbasket.",
+    "Shift the golden bread and the golden bread loaf together to the woven light beige breadbasket.",
+    "Pick up both the rectangular bread soft inside and the bread loaf with bumpy surface, then place them in the medium rectangular breadbasket.",
+    "Simultaneously grab the soft golden baked bread and the bread loaf with bumpy surface using the right arm, then drop them in the medium rectangular breadbasket.",
+    "Pick the square loaf of bread and the bread loaf with bumpy surface for the the woven light beige breadbasket",
+    "Put the square loaf of bread and the square-shaped bread into the beige breadbasket using two arms.",
+    "Shift the rectangular bread soft inside and the cuboid bread into the textured beige breadbasket",
+    "Take the bread with golden surface color and the golden bread then place in the rectangular breadbasket.",
+    "Grab both the slice-shaped bread and the square-shaped bread, drop into the breadbasket with textured sides.",
+    "Grab the golden bread and the golden bread loaf quickly and drop them into the textured beige breadbasket.",
+    "Use two arms and set the rectangular bread soft inside, the light golden brown bread in the plastic breadbasket with mesh sides.",
+    "Take the bread with firm crust edges and the square-shaped bread to the rectangular breadbasket",
+    "Take the slice-shaped bread and the bread loaf with bumpy surface, place them inside the light beige rectangular breadbasket.",
+    "Simultaneously grab the golden crusted bread slice and the square-shaped bread, drop in the breadbasket with textured sides.",
+    "Simultaneously use the right arm to drop the square loaf of bread and the cuboid bread in the beige breadbasket for holding bread.",
+    "Take the bread with rounded corners and the doughy and soft bread together and place them into the plastic breadbasket with mesh sides.",
+    "Lift the bread with golden surface color and the bread loaf with uneven edges with two arms, put in the rectangular breadbasket.",
+    "Move the square loaf of bread and the soft bread to the textured beige breadbasket",
+    "Grab two breads the golden brown loaf-shaped bread and the bread loaf with bumpy surface and place in the textured beige breadbasket.",
+    "Use the right arm to place the brown bread loaf and the golden bread loaf into the woven light beige breadbasket.",
+    "Place the golden bread and the golden bread loaf in the beige breadbasket for holding bread using the right arm",
+    "Pick the golden crusted bread slice and the doughy and soft bread, place them in the light beige rectangular breadbasket.",
+    "Use both arms to move the golden crusted bread slice, the bread with rough texture to the rectangular breadbasket.",
+    "Grab both the bread loaf with square shape and the bread loaf with uneven edges with the right arm and place in the breadbasket with textured sides.",
+    "Lift the soft golden baked bread and the bread loaf with uneven edges at once with the right arm, then set them in the breadbasket with textured sides.",
+    "Move the golden bread and the bread loaf with bumpy surface at once into the woven light beige breadbasket.",
+    "Pick the bread with golden surface color and the hand-sized bread block and set them in the breadbasket for bread storage.",
+    "Shift the rectangular bread soft inside and the golden bread loaf together to the plastic mesh breadbasket.",
+    "Pick up both the brown bread loaf and the hand-sized bread block, then place them in the breadbasket for bread storage.",
+    "Simultaneously grab the golden crusted bread slice and the soft bread using the right arm, then drop them in the breadbasket for bread storage.",
+    "Pick the slice-shaped bread and the bread loaf with uneven edges for the the plastic mesh breadbasket",
+    "Put the rectangular bread soft inside and the bread loaf with uneven edges into the light and textured breadbasket using two arms.",
+    "Shift the slice-shaped bread and the golden bread loaf into the rectangular breadbasket",
+    "Take the bread with rounded corners and the bread loaf with uneven edges then place in the beige breadbasket for holding bread.",
+    "Grab both the golden brown loaf-shaped bread and the square-shaped bread, drop into the breadbasket for bread storage.",
+    "Grab the golden crusted bread slice and the bread block with light patches quickly and drop them into the plastic mesh breadbasket.",
+    "Use two arms and set the golden crusted bread slice, the bread loaf with bumpy surface in the textured beige breadbasket.",
+    "Take the bread with rounded corners and the bread loaf with uneven edges to the beige breadbasket",
+    "Take the golden bread and the bread with rough texture, place them inside the plastic breadbasket with mesh sides.",
+    "Simultaneously grab the golden crusted bread slice and the doughy and soft bread, drop in the plastic breadbasket with mesh sides.",
+    "Simultaneously use the right arm to drop the slice-shaped bread and the golden bread in the breadbasket for bread storage.",
+    "Take the golden bread and the bread with rough texture together and place them into the plastic breadbasket with mesh sides.",
+    "Lift the golden bread and the square-shaped bread with two arms, put in the rectangular breadbasket.",
+    "Move the rectangular bread soft inside and the light golden brown bread to the light beige rectangular breadbasket",
+    "Grab two breads the rectangular bread soft inside and the golden bread and place in the beige breadbasket for holding bread.",
+    "Use the right arm to place the brown bread loaf and the bread with rough texture into the textured beige breadbasket.",
+    "Place the slice-shaped bread and the doughy and soft bread in the light beige rectangular breadbasket using the right arm",
+    "Pick the soft golden baked bread and the bread loaf with bumpy surface, place them in the medium rectangular breadbasket.",
+    "Use both arms to move the square loaf of bread, the cuboid bread to the breadbasket with textured sides.",
+    "Grab both the brown bread loaf and the bread with rough texture with the right arm and place in the rectangular breadbasket.",
+    "Lift the rectangular bread soft inside and the bread with rough texture at once with the right arm, then set them in the medium rectangular breadbasket."
+  ],
+  "unseen": [
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread loaf with soft surface, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread with golden crust and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the bread with golden crust and place in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and drop them into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and the bread loaf with soft surface and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Place the small loaf-shaped bread and the bread loaf with soft surface into the woven shallow breadbasket using the right arm",
+    "Grab the soft rectangular bread loaf and the bread with golden crust with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the bread loaf medium-sized and the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the bread with golden crust and place in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and drop them into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread with golden crust and drop it into the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the small loaf-shaped bread and the bread loaf with soft surface, then place them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the bread with golden crust into the shallow rectangular breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and the bread with golden crust with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft rectangular bread loaf and the rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Pick the soft rectangular bread loaf and the bread with golden crust and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the small loaf-shaped bread and the bread with golden crust, then place them in the shallow rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the rectangular bread loaf into the shallow rectangular breadbasket using the right arm",
+    "Grab the small loaf-shaped bread and the bread with golden crust with two arms, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the bread with golden crust, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread loaf medium-sized and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and drop them into the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Pick the soft rectangular bread loaf and the rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the small loaf-shaped bread and the rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the rectangular bread loaf into the breadbasket with woven pattern using the right arm",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the bread with golden crust, drop in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the bread loaf with soft surface and place in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Pick the bread loaf medium-sized and the rectangular bread loaf and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the bread with golden crust, then place them in the shallow rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the bread loaf with soft surface into the breadbasket with woven pattern using the right arm",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the bread with golden crust and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the bread loaf with soft surface and place in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and drop them into the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and the rectangular bread loaf and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Place the bread loaf medium-sized and the bread loaf with soft surface into the shallow rectangular breadbasket using the right arm",
+    "Grab the soft rectangular bread loaf and the bread loaf with soft surface with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the small loaf-shaped bread and the bread with golden crust, drop in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf with soft surface and drop them into the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and the bread with golden crust and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the bread with golden crust, then place them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the bread loaf with soft surface into the breadbasket with woven pattern using the right arm",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread with golden crust, drop in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the bread loaf with soft surface and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Pick the bread loaf medium-sized and the rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the small loaf-shaped bread and the bread loaf with soft surface, then place them in the breadbasket with woven pattern.",
+    "Place the bread loaf medium-sized and the bread loaf with soft surface into the breadbasket with woven pattern using the right arm",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread with golden crust, drop in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick the small loaf-shaped bread and the bread with golden crust and place in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Pick the soft rectangular bread loaf and the rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the bread loaf medium-sized and the bread loaf with soft surface, then place them in the shallow rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the bread with golden crust into the breadbasket with woven pattern using the right arm",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the bread loaf with soft surface, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Pick the soft rectangular bread loaf and the bread loaf with soft surface and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the rectangular bread loaf into the shallow rectangular breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and the bread with golden crust with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick the soft rectangular bread loaf and the bread loaf with soft surface and place in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and drop it into the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the bread loaf with soft surface and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the bread loaf with soft surface, then place them in the shallow rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the bread with golden crust into the woven shallow breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface with two arms, place in the breadbasket with woven pattern."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode29.json b/place_bread_basket/demo_clean/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..dca28d75e2b7f8c9c7b6cffeb72f478e9c83b44c
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the soft golden baked bread and the braided bread loaf in the breadbasket with curved base using the left arm",
+    "Use both arms to move the bread with firm crust edges, the soft doughy bread to the medium oval breadbasket.",
+    "Shift the brown bread loaf and the round bread with crusty texture into the synthetic material breadbasket",
+    "Shift the rectangular bread soft inside and the smooth crusty small bread together to the beige basket for holding bread.",
+    "Simultaneously grab the bread with golden surface color and the round bread with braided top, drop in the beige basket for holding bread.",
+    "Pick the golden bread and the small golden baked bread and set them in the two-hand-sized breadbasket.",
+    "Move the slice-shaped bread and the smooth crusty small bread at once into the oval breadbasket.",
+    "Lift the slice-shaped bread and the bread with golden crust with two arms, put in the smooth-textured breadbasket.",
+    "Pick the square loaf of bread and the braided bread loaf for the the oval basket for bread",
+    "Use the left arm to place the bread with golden surface color and the smooth crusty small bread into the beige basket for holding bread.",
+    "Grab both the square loaf of bread and the golden bread loaf with soft inside, drop into the oval breadbasket.",
+    "Take the golden bread and the golden brown bread with braided design to the medium oval breadbasket",
+    "Simultaneously grab the soft golden baked bread and the small bread using the left arm, then drop them in the breadbasket with curved base.",
+    "Put the soft golden baked bread and the soft golden bread into the two-hand-sized breadbasket using two arms.",
+    "Take the brown bread loaf and the golden brown bread with braided design then place in the oval basket for bread.",
+    "Simultaneously use the left arm to drop the golden crusted bread slice and the golden brown bread with braided design in the breadbasket for small food items.",
+    "Lift the golden brown loaf-shaped bread and the small bread at once with the left arm, then set them in the two-hand-sized breadbasket.",
+    "Grab both the golden crusted bread slice and the smooth crusty small bread with the left arm and place in the oval breadbasket.",
+    "Grab the golden brown loaf-shaped bread and the braided bread loaf quickly and drop them into the synthetic material breadbasket.",
+    "Pick the bread loaf with square shape and the smooth crusty small bread, place them in the oval breadbasket.",
+    "Pick up both the brown bread loaf and the small golden baked bread, then place them in the two-hand-sized breadbasket.",
+    "Grab two breads the golden crusted bread slice and the bread with golden crust and place in the two-hand-sized breadbasket.",
+    "Take the bread with firm crust edges and the golden bread loaf with soft inside together and place them into the beige basket for holding bread.",
+    "Move the slice-shaped bread and the round bread with braided top to the woven plastic breadbasket",
+    "Take the slice-shaped bread and the golden brown bread, place them inside the light brown breadbasket.",
+    "Use two arms and set the bread loaf with square shape, the round bread with crusty texture in the oval breadbasket.",
+    "Place the bread with rounded corners and the round bread with braided top in the light brown breadbasket using the left arm",
+    "Use both arms to move the soft golden baked bread, the small bread to the synthetic material breadbasket.",
+    "Shift the brown bread loaf and the braided bread loaf into the breadbasket for small food items",
+    "Shift the golden brown loaf-shaped bread and the round bread with crusty texture together to the basket with light brown weaving.",
+    "Simultaneously grab the slice-shaped bread and the golden brown bread, drop in the basket with light brown weaving.",
+    "Pick the square loaf of bread and the soft doughy bread and set them in the woven plastic breadbasket.",
+    "Move the golden crusted bread slice and the soft golden bread at once into the two-hand-sized breadbasket.",
+    "Lift the golden crusted bread slice and the smooth crusty small bread with two arms, put in the basket with light brown weaving.",
+    "Pick the bread with firm crust edges and the smooth crusty small bread for the the oval breadbasket",
+    "Use the left arm to place the golden bread and the small bread into the oval breadbasket.",
+    "Grab both the golden brown loaf-shaped bread and the soft golden bread, drop into the two-hand-sized breadbasket.",
+    "Take the golden bread and the soft golden bread to the beige basket for holding bread",
+    "Simultaneously grab the soft golden baked bread and the round bread with crusty texture using the left arm, then drop them in the breadbasket with curved base.",
+    "Put the golden bread and the golden bread loaf with soft inside into the light brown breadbasket using two arms.",
+    "Take the bread with golden surface color and the round bread with crusty texture then place in the breadbasket with curved base.",
+    "Simultaneously use the left arm to drop the golden brown loaf-shaped bread and the smooth crusty small bread in the two-hand-sized breadbasket.",
+    "Lift the bread with firm crust edges and the golden brown bread at once with the left arm, then set them in the two-hand-sized breadbasket.",
+    "Grab both the soft golden baked bread and the golden brown bread with the left arm and place in the medium oval breadbasket.",
+    "Grab the golden crusted bread slice and the soft doughy bread quickly and drop them into the breadbasket for small food items.",
+    "Pick the bread with firm crust edges and the bread with golden crust, place them in the medium oval breadbasket.",
+    "Pick up both the square loaf of bread and the round bread with braided top, then place them in the oval breadbasket.",
+    "Grab two breads the golden crusted bread slice and the bread with golden crust and place in the synthetic material breadbasket.",
+    "Take the bread with firm crust edges and the golden brown bread together and place them into the medium oval breadbasket.",
+    "Move the square loaf of bread and the braided bread loaf to the synthetic material breadbasket",
+    "Take the slice-shaped bread and the small golden baked bread, place them inside the breadbasket for small food items.",
+    "Use two arms and set the golden bread, the round bread with crusty texture in the breadbasket for small food items.",
+    "Place the golden crusted bread slice and the round bread with crusty texture in the smooth-textured breadbasket using the left arm",
+    "Use both arms to move the bread with firm crust edges, the smooth crusty small bread to the oval breadbasket.",
+    "Shift the golden brown loaf-shaped bread and the round bread with crusty texture into the breadbasket with curved base",
+    "Shift the golden bread and the braided bread loaf together to the breadbasket for small food items.",
+    "Simultaneously grab the bread loaf with square shape and the round bread with braided top, drop in the smooth-textured breadbasket.",
+    "Pick the bread with firm crust edges and the bread with golden crust and set them in the synthetic material breadbasket.",
+    "Move the soft golden baked bread and the soft doughy bread at once into the oval basket for bread.",
+    "Lift the golden bread and the small golden baked bread with two arms, put in the synthetic material breadbasket.",
+    "Pick the bread with rounded corners and the golden brown bread with braided design for the the oval basket for bread",
+    "Use the left arm to place the square loaf of bread and the golden brown bread into the woven plastic breadbasket.",
+    "Grab both the bread loaf with square shape and the round bread with crusty texture, drop into the beige basket for holding bread.",
+    "Take the golden crusted bread slice and the golden brown bread to the synthetic material breadbasket",
+    "Simultaneously grab the golden crusted bread slice and the golden brown bread with braided design using the left arm, then drop them in the breadbasket with curved base.",
+    "Put the rectangular bread soft inside and the soft golden bread into the two-hand-sized breadbasket using two arms.",
+    "Take the soft golden baked bread and the soft doughy bread then place in the smooth-textured breadbasket.",
+    "Simultaneously use the left arm to drop the soft golden baked bread and the round bread with braided top in the basket with light brown weaving.",
+    "Lift the bread with golden surface color and the braided bread loaf at once with the left arm, then set them in the light brown breadbasket.",
+    "Grab both the square loaf of bread and the braided bread loaf with the left arm and place in the oval basket for bread.",
+    "Grab the slice-shaped bread and the small golden baked bread quickly and drop them into the two-hand-sized breadbasket.",
+    "Pick the golden crusted bread slice and the small bread, place them in the basket with light brown weaving.",
+    "Pick up both the bread with rounded corners and the small golden baked bread, then place them in the smooth-textured breadbasket.",
+    "Grab two breads the golden brown loaf-shaped bread and the bread with golden crust and place in the oval breadbasket.",
+    "Take the bread with rounded corners and the braided bread loaf together and place them into the medium oval breadbasket.",
+    "Move the golden crusted bread slice and the smooth crusty small bread to the basket with light brown weaving",
+    "Take the brown bread loaf and the smooth crusty small bread, place them inside the breadbasket with curved base.",
+    "Use two arms and set the bread with rounded corners, the golden bread loaf with soft inside in the oval breadbasket.",
+    "Place the square loaf of bread and the round bread with braided top in the breadbasket for small food items using the left arm",
+    "Use both arms to move the bread with firm crust edges, the braided bread loaf to the two-hand-sized breadbasket.",
+    "Shift the bread with firm crust edges and the golden brown bread into the oval basket for bread",
+    "Shift the soft golden baked bread and the soft doughy bread together to the woven plastic breadbasket.",
+    "Simultaneously grab the bread loaf with square shape and the braided bread loaf, drop in the medium oval breadbasket.",
+    "Pick the golden bread and the small bread and set them in the oval basket for bread.",
+    "Move the bread loaf with square shape and the small golden baked bread at once into the breadbasket for small food items.",
+    "Lift the rectangular bread soft inside and the round bread with braided top with two arms, put in the smooth-textured breadbasket.",
+    "Pick the bread loaf with square shape and the golden brown bread with braided design for the the breadbasket with curved base",
+    "Use the left arm to place the bread with rounded corners and the soft doughy bread into the light brown breadbasket.",
+    "Grab both the bread with rounded corners and the braided bread loaf, drop into the woven plastic breadbasket.",
+    "Take the rectangular bread soft inside and the soft golden bread to the breadbasket for small food items",
+    "Simultaneously grab the golden crusted bread slice and the braided bread loaf using the left arm, then drop them in the oval breadbasket.",
+    "Put the bread with rounded corners and the braided bread loaf into the light brown breadbasket using two arms.",
+    "Take the soft golden baked bread and the golden brown bread then place in the medium oval breadbasket.",
+    "Simultaneously use the left arm to drop the slice-shaped bread and the small golden baked bread in the breadbasket for small food items.",
+    "Lift the slice-shaped bread and the golden bread loaf with soft inside at once with the left arm, then set them in the oval breadbasket.",
+    "Grab both the golden crusted bread slice and the golden brown bread with braided design with the left arm and place in the synthetic material breadbasket.",
+    "Grab the square loaf of bread and the golden brown bread quickly and drop them into the basket with light brown weaving.",
+    "Pick the rectangular bread soft inside and the soft doughy bread, place them in the two-hand-sized breadbasket.",
+    "Pick up both the rectangular bread soft inside and the small bread, then place them in the two-hand-sized breadbasket.",
+    "Grab two breads the square loaf of bread and the soft golden bread and place in the synthetic material breadbasket."
+  ],
+  "unseen": [
+    "Use the left arm to pick the small loaf-shaped bread and the braided top round bread and place in the beige breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the braided top round bread, then place them in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the palm-sized braided golden bread, drop in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the braided top round bread with two arms, place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the braided top round bread and put them in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread and drop them into the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the palm-sized braided golden bread and place them in the beige breadbasket.",
+    "Place the soft rectangular bread loaf and the braided top round bread into the medium-sized breadbasket using the left arm",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop it into the breadbasket with ridged texture.",
+    "Use the left arm to pick the bread loaf medium-sized and the round braided loaf and place in the beige breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the round braided loaf, then place them in the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the braided top round bread, drop in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and put them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop them into the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and the round braided loaf and place them in the beige breadbasket.",
+    "Place the small loaf-shaped bread and the palm-sized braided golden bread into the breadbasket with ridged texture using the left arm",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop it into the medium-sized breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the round braided loaf and place in the breadbasket with ridged texture.",
+    "Use the left arm to pick up the soft rectangular bread loaf and the braided top round bread, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf medium-sized and the round braided loaf, drop in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the braided top round bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and put them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the round braided loaf and drop them into the beige breadbasket.",
+    "Pick the small loaf-shaped bread and the braided top round bread and place them in the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the braided top round bread into the medium-sized breadbasket using the left arm",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread and drop it into the beige breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and the braided top round bread and place in the medium-sized breadbasket.",
+    "Use the left arm to pick up the soft rectangular bread loaf and the round braided loaf, then place them in the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the braided top round bread, drop in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the round braided loaf with two arms, place in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the braided top round bread and put them in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the round braided loaf and drop them into the breadbasket with ridged texture.",
+    "Pick the soft rectangular bread loaf and the round braided loaf and place them in the beige breadbasket.",
+    "Place the bread loaf medium-sized and the palm-sized braided golden bread into the breadbasket with ridged texture using the left arm",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop it into the medium-sized breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the round braided loaf and place in the beige breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the round braided loaf, then place them in the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the round braided loaf, drop in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the round braided loaf with two arms, place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and put them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the braided top round bread and drop them into the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the palm-sized braided golden bread and place them in the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the palm-sized braided golden bread into the breadbasket with ridged texture using the left arm",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and drop it into the beige breadbasket.",
+    "Use the left arm to pick the bread loaf medium-sized and the braided top round bread and place in the medium-sized breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the round braided loaf, then place them in the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the palm-sized braided golden bread, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the braided top round bread and put them in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop them into the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and the braided top round bread and place them in the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the palm-sized braided golden bread into the breadbasket with ridged texture using the left arm",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop it into the breadbasket with ridged texture.",
+    "Use the left arm to pick the soft rectangular bread loaf and the braided top round bread and place in the medium-sized breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the braided top round bread, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the palm-sized braided golden bread, drop in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf with two arms, place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and put them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop them into the medium-sized breadbasket.",
+    "Pick the bread loaf medium-sized and the round braided loaf and place them in the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the round braided loaf into the breadbasket with ridged texture using the left arm",
+    "Grab the small loaf-shaped bread and the braided top round bread and drop it into the breadbasket with ridged texture.",
+    "Use the left arm to pick the small loaf-shaped bread and the round braided loaf and place in the beige breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the round braided loaf, then place them in the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the palm-sized braided golden bread, drop in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the braided top round bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the braided top round bread and put them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop them into the breadbasket with ridged texture.",
+    "Pick the soft rectangular bread loaf and the braided top round bread and place them in the beige breadbasket.",
+    "Place the small loaf-shaped bread and the palm-sized braided golden bread into the beige breadbasket using the left arm",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop it into the breadbasket with ridged texture.",
+    "Use the left arm to pick the bread loaf medium-sized and the round braided loaf and place in the beige breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the round braided loaf, then place them in the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the palm-sized braided golden bread, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread with two arms, place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and put them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop them into the medium-sized breadbasket.",
+    "Pick the small loaf-shaped bread and the round braided loaf and place them in the medium-sized breadbasket.",
+    "Place the small loaf-shaped bread and the round braided loaf into the breadbasket with ridged texture using the left arm",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop it into the medium-sized breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and the braided top round bread and place in the medium-sized breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the braided top round bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the palm-sized braided golden bread, drop in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the braided top round bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the braided top round bread and put them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the braided top round bread and drop them into the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the braided top round bread and place them in the breadbasket with ridged texture.",
+    "Place the bread loaf medium-sized and the palm-sized braided golden bread into the breadbasket with ridged texture using the left arm",
+    "Grab the soft rectangular bread loaf and the braided top round bread and drop it into the beige breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the braided top round bread and place in the medium-sized breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the round braided loaf, then place them in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the braided top round bread, drop in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the braided top round bread with two arms, place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the braided top round bread and put them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread and drop them into the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the braided top round bread and place them in the breadbasket with ridged texture.",
+    "Place the bread loaf medium-sized and the palm-sized braided golden bread into the breadbasket with ridged texture using the left arm",
+    "Grab the small loaf-shaped bread and the round braided loaf and drop it into the beige breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the round braided loaf and place in the medium-sized breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode3.json b/place_bread_basket/demo_clean/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..75e23de7964c6c6207040db19c75f9b9901442e5
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up both the medium bread with rounded sides and the light brown porous bread, then place them in the oval breadbasket.",
+    "Pick the bread with soft texture and the square-shaped bread piece, place them in the basket with light brown weaving.",
+    "Shift the bread with soft texture and the golden brown bread into the breadbasket for small food items",
+    "Use the dual arm to place the medium-sized bread piece and the sponge-textured golden bread into the basket with light brown weaving.",
+    "Lift the rounded square loaf and the fluffy baked bread at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Simultaneously grab the fluffy baked bread and the square-shaped bread piece, drop in the woven plastic breadbasket.",
+    "Take the golden brown bread and the light brown porous bread then place in the two-hand-sized breadbasket.",
+    "Simultaneously use the dual arm to drop the golden baked bread and the golden brown bread in the woven plastic breadbasket.",
+    "Move the sponge-textured golden bread and the soft square bread at once into the synthetic material breadbasket.",
+    "Take the medium bread with rounded sides and the soft square bread, place them inside the basket with light brown weaving.",
+    "Grab two breads the square-shaped bread piece and the bread with soft texture and place in the breadbasket with curved base.",
+    "Pick the medium-sized bread piece and the bread with soft texture for the the light brown breadbasket",
+    "Move the golden baked bread and the medium bread with rounded sides to the oval basket for bread",
+    "Grab both the bread with soft texture and the bread with rounded edges, drop into the oval basket for bread.",
+    "Use two arms and set the medium-sized bread piece, the light brown porous bread in the basket with light brown weaving.",
+    "Grab the rounded square loaf and the sponge-textured golden bread quickly and drop them into the medium oval breadbasket.",
+    "Pick the sponge-textured golden bread and the golden brown bread and set them in the medium oval breadbasket.",
+    "Take the fluffy baked bread and the golden brown bread together and place them into the synthetic material breadbasket.",
+    "Simultaneously grab the golden brown bread and the light brown porous bread using the dual arm, then drop them in the breadbasket with curved base.",
+    "Take the bread with rounded edges and the sponge-textured golden bread to the woven plastic breadbasket",
+    "Shift the bread with rounded edges and the sponge-textured golden bread together to the two-hand-sized breadbasket.",
+    "Place the golden baked bread and the bread with rounded edges in the beige basket for holding bread using the dual arm",
+    "Grab both the bread with soft texture and the golden baked bread with the dual arm and place in the woven plastic breadbasket.",
+    "Put the soft square bread and the soft square bread into the medium oval breadbasket using two arms.",
+    "Use both arms to move the sponge-textured golden bread, the sponge-textured golden bread to the woven plastic breadbasket.",
+    "Lift the golden brown bread and the sponge-textured golden bread with two arms, put in the oval basket for bread.",
+    "Pick up both the golden baked bread and the bread with rounded edges, then place them in the light brown breadbasket.",
+    "Pick the bread with soft texture and the sponge-textured golden bread, place them in the oval breadbasket.",
+    "Shift the bread with soft texture and the bread with rounded edges into the smooth-textured breadbasket",
+    "Use the dual arm to place the square-shaped bread piece and the light brown porous bread into the breadbasket for small food items.",
+    "Lift the rounded square loaf and the fluffy baked bread at once with the dual arm, then set them in the beige basket for holding bread.",
+    "Simultaneously grab the rounded square loaf and the sponge-textured golden bread, drop in the breadbasket with curved base.",
+    "Take the sponge-textured golden bread and the bread with soft texture then place in the oval breadbasket.",
+    "Simultaneously use the dual arm to drop the fluffy baked bread and the bread with rounded edges in the woven plastic breadbasket.",
+    "Move the light brown porous bread and the bread with soft texture at once into the oval breadbasket.",
+    "Take the medium bread with rounded sides and the soft square bread, place them inside the synthetic material breadbasket.",
+    "Grab two breads the sponge-textured golden bread and the sponge-textured golden bread and place in the light brown breadbasket.",
+    "Pick the rounded square loaf and the bread with rounded edges for the the synthetic material breadbasket",
+    "Move the golden brown bread and the golden brown bread to the breadbasket with curved base",
+    "Grab both the medium-sized bread piece and the fluffy baked bread, drop into the medium oval breadbasket.",
+    "Use two arms and set the sponge-textured golden bread, the medium-sized bread piece in the basket with light brown weaving.",
+    "Grab the light brown porous bread and the bread with rounded edges quickly and drop them into the breadbasket with curved base.",
+    "Pick the bread with rounded edges and the bread with rounded edges and set them in the medium oval breadbasket.",
+    "Take the bread with soft texture and the bread with rounded edges together and place them into the beige basket for holding bread.",
+    "Simultaneously grab the rounded square loaf and the medium-sized bread piece using the dual arm, then drop them in the oval breadbasket.",
+    "Take the golden baked bread and the rounded square loaf to the oval basket for bread",
+    "Shift the soft square bread and the fluffy baked bread together to the oval basket for bread.",
+    "Place the medium bread with rounded sides and the medium bread with rounded sides in the smooth-textured breadbasket using the dual arm",
+    "Grab both the rounded square loaf and the medium bread with rounded sides with the dual arm and place in the beige basket for holding bread.",
+    "Put the soft square bread and the golden brown bread into the beige basket for holding bread using two arms.",
+    "Use both arms to move the soft square bread, the golden baked bread to the breadbasket with curved base.",
+    "Lift the bread with soft texture and the medium bread with rounded sides with two arms, put in the light brown breadbasket.",
+    "Pick up both the fluffy baked bread and the square-shaped bread piece, then place them in the basket with light brown weaving.",
+    "Pick the light brown porous bread and the square-shaped bread piece, place them in the beige basket for holding bread.",
+    "Shift the sponge-textured golden bread and the golden baked bread into the woven plastic breadbasket",
+    "Use the dual arm to place the bread with rounded edges and the bread with rounded edges into the beige basket for holding bread.",
+    "Lift the bread with soft texture and the golden baked bread at once with the dual arm, then set them in the breadbasket with curved base.",
+    "Simultaneously grab the medium bread with rounded sides and the sponge-textured golden bread, drop in the oval basket for bread.",
+    "Take the bread with soft texture and the golden brown bread then place in the basket with light brown weaving.",
+    "Simultaneously use the dual arm to drop the bread with rounded edges and the golden brown bread in the breadbasket for small food items.",
+    "Move the medium-sized bread piece and the golden baked bread at once into the oval breadbasket.",
+    "Take the rounded square loaf and the fluffy baked bread, place them inside the medium oval breadbasket.",
+    "Grab two breads the golden baked bread and the bread with rounded edges and place in the woven plastic breadbasket.",
+    "Pick the fluffy baked bread and the golden baked bread for the the oval breadbasket",
+    "Move the fluffy baked bread and the bread with rounded edges to the light brown breadbasket",
+    "Grab both the bread with rounded edges and the medium bread with rounded sides, drop into the beige basket for holding bread.",
+    "Use two arms and set the light brown porous bread, the rounded square loaf in the two-hand-sized breadbasket.",
+    "Grab the sponge-textured golden bread and the fluffy baked bread quickly and drop them into the oval breadbasket.",
+    "Pick the light brown porous bread and the golden brown bread and set them in the oval basket for bread.",
+    "Take the soft square bread and the soft square bread together and place them into the basket with light brown weaving.",
+    "Simultaneously grab the rounded square loaf and the rounded square loaf using the dual arm, then drop them in the beige basket for holding bread.",
+    "Take the square-shaped bread piece and the sponge-textured golden bread to the oval basket for bread",
+    "Shift the golden brown bread and the rounded square loaf together to the synthetic material breadbasket.",
+    "Place the sponge-textured golden bread and the medium-sized bread piece in the light brown breadbasket using the dual arm",
+    "Grab both the bread with soft texture and the golden baked bread with the dual arm and place in the basket with light brown weaving.",
+    "Put the rounded square loaf and the fluffy baked bread into the smooth-textured breadbasket using two arms.",
+    "Use both arms to move the golden brown bread, the light brown porous bread to the breadbasket for small food items.",
+    "Lift the golden baked bread and the bread with rounded edges with two arms, put in the breadbasket with curved base.",
+    "Pick up both the bread with rounded edges and the bread with soft texture, then place them in the breadbasket with curved base.",
+    "Pick the soft square bread and the medium bread with rounded sides, place them in the smooth-textured breadbasket.",
+    "Shift the golden brown bread and the bread with soft texture into the oval breadbasket",
+    "Use the dual arm to place the medium-sized bread piece and the golden brown bread into the basket with light brown weaving.",
+    "Lift the fluffy baked bread and the golden brown bread at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Simultaneously grab the medium-sized bread piece and the medium-sized bread piece, drop in the synthetic material breadbasket.",
+    "Take the sponge-textured golden bread and the light brown porous bread then place in the breadbasket for small food items.",
+    "Simultaneously use the dual arm to drop the medium bread with rounded sides and the medium bread with rounded sides in the light brown breadbasket.",
+    "Move the light brown porous bread and the bread with soft texture at once into the light brown breadbasket.",
+    "Take the bread with rounded edges and the medium bread with rounded sides, place them inside the beige basket for holding bread.",
+    "Grab two breads the medium bread with rounded sides and the bread with rounded edges and place in the light brown breadbasket.",
+    "Pick the bread with rounded edges and the light brown porous bread for the the oval basket for bread",
+    "Move the square-shaped bread piece and the bread with rounded edges to the beige basket for holding bread",
+    "Grab both the medium-sized bread piece and the golden brown bread, drop into the two-hand-sized breadbasket.",
+    "Use two arms and set the medium-sized bread piece, the bread with rounded edges in the medium oval breadbasket.",
+    "Grab the bread with rounded edges and the bread with soft texture quickly and drop them into the woven plastic breadbasket.",
+    "Pick the medium-sized bread piece and the rounded square loaf and set them in the synthetic material breadbasket.",
+    "Take the golden baked bread and the rounded square loaf together and place them into the two-hand-sized breadbasket.",
+    "Simultaneously grab the sponge-textured golden bread and the square-shaped bread piece using the dual arm, then drop them in the light brown breadbasket.",
+    "Take the fluffy baked bread and the golden brown bread to the smooth-textured breadbasket",
+    "Shift the medium bread with rounded sides and the light brown porous bread together to the breadbasket for small food items.",
+    "Place the sponge-textured golden bread and the medium bread with rounded sides in the oval basket for bread using the dual arm"
+  ],
+  "unseen": [
+    "Grab the spongy golden brown bread and the soft bread with golden edges and put them in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop them into the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and the soft bread with golden edges and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the spongy golden brown bread and the spongy golden brown bread, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the square bread with light spots and the spongy golden brown bread, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the spongy golden brown bread and the square bread with light spots with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the square bread with light spots and place in the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges and the square bread with light spots into the breadbasket with ridged texture using the dual arm",
+    "Grab the soft bread with golden edges and the square bread with light spots and put them in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and drop them into the beige breadbasket.",
+    "Pick the square bread with light spots and the spongy golden brown bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the soft bread with golden edges, drop in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the beige breadbasket.",
+    "Place the spongy golden brown bread and the spongy golden brown bread into the medium-sized breadbasket using the dual arm",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the beige breadbasket.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop them into the beige breadbasket.",
+    "Pick the spongy golden brown bread and the soft bread with golden edges and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the soft bread with golden edges and the square bread with light spots, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread and the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges and the soft bread with golden edges into the medium-sized breadbasket using the dual arm",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the beige breadbasket.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop them into the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and the spongy golden brown bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the square bread with light spots, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread and the square bread with light spots, drop in the beige breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the square bread with light spots with two arms, place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the medium-sized breadbasket.",
+    "Place the soft bread with golden edges and the square bread with light spots into the beige breadbasket using the dual arm",
+    "Grab the square bread with light spots and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop them into the beige breadbasket.",
+    "Pick the spongy golden brown bread and the soft bread with golden edges and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the spongy golden brown bread and the spongy golden brown bread, then place them in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the square bread with light spots and the soft bread with golden edges with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the square bread with light spots and place in the medium-sized breadbasket.",
+    "Place the square bread with light spots and the square bread with light spots into the medium-sized breadbasket using the dual arm",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and put them in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop them into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and the square bread with light spots and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft bread with golden edges and the soft bread with golden edges, drop in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges and the soft bread with golden edges into the beige breadbasket using the dual arm",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop them into the beige breadbasket.",
+    "Pick the square bread with light spots and the soft bread with golden edges and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread and the spongy golden brown bread, drop in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges and the spongy golden brown bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the spongy golden brown bread and the square bread with light spots and put them in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop them into the beige breadbasket.",
+    "Pick the soft bread with golden edges and the square bread with light spots and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the spongy golden brown bread and the square bread with light spots, then place them in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the spongy golden brown bread, drop in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and the soft bread with golden edges with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread and the square bread with light spots into the beige breadbasket using the dual arm",
+    "Grab the square bread with light spots and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots and drop them into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and the spongy golden brown bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the square bread with light spots, then place them in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots and the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the spongy golden brown bread and place in the medium-sized breadbasket.",
+    "Place the square bread with light spots and the square bread with light spots into the medium-sized breadbasket using the dual arm",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop them into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and the spongy golden brown bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the square bread with light spots, then place them in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots and the soft bread with golden edges, drop in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and the square bread with light spots with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread and the spongy golden brown bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and put them in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop them into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and the spongy golden brown bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the soft bread with golden edges, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread and the spongy golden brown bread, drop in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots with two arms, place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the beige breadbasket.",
+    "Place the soft bread with golden edges and the soft bread with golden edges into the breadbasket with ridged texture using the dual arm",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and put them in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode30.json b/place_bread_basket/demo_clean/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..386b884dbd63189bdb1c0fbb5dec06682de609f6
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the bread with golden surface color and the light brown bread with ridges in the palm-sized breadbasket using the right arm",
+    "Take the golden brown loaf-shaped bread and the light brown loaf with smooth sides, place them inside the palm-sized breadbasket.",
+    "Take the soft golden baked bread and the brown loaf together and place them into the breadbasket for dough.",
+    "Lift the golden bread and the soft brown bread with two arms, put in the palm-sized breadbasket.",
+    "Simultaneously grab the square loaf of bread and the small loaf with curved top using the right arm, then drop them in the breadbasket made of woven wood.",
+    "Shift the bread with golden surface color and the hand-sized oval loaf together to the breadbasket for dough.",
+    "Pick the bread loaf with square shape and the golden bread loaf for the the breadbasket for baking",
+    "Use both arms to move the bread with firm crust edges, the small golden brown bread to the medium breadbasket.",
+    "Pick up both the rectangular bread soft inside and the light brown bread with ridges, then place them in the medium breadbasket.",
+    "Take the bread with golden surface color and the light brown loaf with smooth sides then place in the smooth beige breadbasket.",
+    "Grab both the rectangular bread soft inside and the small golden brown bread, drop into the medium breadbasket.",
+    "Use two arms and set the bread with rounded corners, the brown loaf in the breadbasket made of woven wood.",
+    "Use the right arm to place the soft golden baked bread and the soft brown bread into the medium breadbasket.",
+    "Take the golden brown loaf-shaped bread and the bread with golden-brown crust to the round breadbasket",
+    "Grab two breads the bread with rounded corners and the small loaf with curved top and place in the breadbasket for dough.",
+    "Move the square loaf of bread and the hand-sized oval loaf to the breadbasket for baking",
+    "Move the bread with golden surface color and the smooth loaf with rounded edges at once into the wooden breadbasket.",
+    "Grab both the golden brown loaf-shaped bread and the bread with warm golden color with the right arm and place in the medium breadbasket.",
+    "Grab the bread with golden surface color and the soft brown bread quickly and drop them into the spiral ridged breadbasket.",
+    "Lift the brown bread loaf and the hand-sized oval loaf at once with the right arm, then set them in the breadbasket made of woven wood.",
+    "Pick the golden bread and the light brown bread with ridges, place them in the breadbasket for dough.",
+    "Shift the bread loaf with square shape and the brown loaf into the palm-sized breadbasket",
+    "Simultaneously use the right arm to drop the golden bread and the bread with split top in the breadbasket with flat base.",
+    "Put the golden brown loaf-shaped bread and the brown loaf into the breadbasket shaped like a bowl using two arms.",
+    "Simultaneously grab the rectangular bread soft inside and the light brown bread with ridges, drop in the medium breadbasket.",
+    "Pick the golden bread and the bread with warm golden color and set them in the spiral ridged breadbasket.",
+    "Place the brown bread loaf and the bread with split top in the breadbasket with flat base using the right arm",
+    "Take the bread with golden surface color and the golden bread loaf, place them inside the breadbasket shaped like a bowl.",
+    "Take the slice-shaped bread and the bread with golden-brown crust together and place them into the breadbasket with spiral lines.",
+    "Lift the soft golden baked bread and the small loaf with curved top with two arms, put in the medium breadbasket.",
+    "Simultaneously grab the brown bread loaf and the smooth loaf with rounded edges using the right arm, then drop them in the breadbasket made of woven wood.",
+    "Shift the rectangular bread soft inside and the bread with split top together to the wooden breadbasket.",
+    "Pick the golden bread and the golden bread loaf for the the palm-sized breadbasket",
+    "Use both arms to move the square loaf of bread, the small loaf with curved top to the breadbasket shaped like a bowl.",
+    "Pick up both the slice-shaped bread and the bread with split top, then place them in the spiral ridged breadbasket.",
+    "Take the slice-shaped bread and the light brown loaf with smooth sides then place in the wooden breadbasket.",
+    "Grab both the golden bread and the small loaf with curved top, drop into the breadbasket made of woven wood.",
+    "Use two arms and set the golden crusted bread slice, the light brown bread with ridges in the breadbasket made of woven wood.",
+    "Use the right arm to place the bread loaf with square shape and the hand-sized oval loaf into the medium breadbasket.",
+    "Take the bread with golden surface color and the light brown bread with ridges to the smooth beige breadbasket",
+    "Grab two breads the bread loaf with square shape and the light brown loaf with smooth sides and place in the spiral ridged breadbasket.",
+    "Move the bread with golden surface color and the bread with warm golden color to the round breadbasket",
+    "Move the bread with golden surface color and the small loaf with curved top at once into the wooden breadbasket.",
+    "Grab both the brown bread loaf and the light brown bread with ridges with the right arm and place in the breadbasket made of woven wood.",
+    "Grab the bread with rounded corners and the small loaf with curved top quickly and drop them into the breadbasket shaped like a bowl.",
+    "Lift the rectangular bread soft inside and the golden bread loaf at once with the right arm, then set them in the breadbasket made of woven wood.",
+    "Pick the slice-shaped bread and the light brown bread with ridges, place them in the breadbasket for dough.",
+    "Shift the golden bread and the small loaf with curved top into the breadbasket with spiral lines",
+    "Simultaneously use the right arm to drop the bread with rounded corners and the hand-sized oval loaf in the breadbasket made of woven wood.",
+    "Put the golden bread and the hand-sized oval loaf into the wooden breadbasket using two arms.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the small loaf with curved top, drop in the medium breadbasket.",
+    "Pick the bread with rounded corners and the light brown bread with ridges and set them in the wooden breadbasket.",
+    "Place the square loaf of bread and the soft brown bread in the breadbasket with spiral lines using the right arm",
+    "Take the golden brown loaf-shaped bread and the bread with warm golden color, place them inside the round breadbasket.",
+    "Take the golden crusted bread slice and the bread with split top together and place them into the breadbasket for baking.",
+    "Lift the bread with firm crust edges and the brown loaf with two arms, put in the breadbasket for baking.",
+    "Simultaneously grab the soft golden baked bread and the smooth loaf with rounded edges using the right arm, then drop them in the spiral ridged breadbasket.",
+    "Shift the bread with golden surface color and the small golden brown bread together to the breadbasket for dough.",
+    "Pick the bread with rounded corners and the smooth loaf with rounded edges for the the breadbasket with flat base",
+    "Use both arms to move the golden crusted bread slice, the light brown bread with ridges to the breadbasket for baking.",
+    "Pick up both the soft golden baked bread and the bread with golden-brown crust, then place them in the smooth beige breadbasket.",
+    "Take the golden crusted bread slice and the light brown loaf with smooth sides then place in the palm-sized breadbasket.",
+    "Grab both the soft golden baked bread and the light brown bread with ridges, drop into the palm-sized breadbasket.",
+    "Use two arms and set the golden brown loaf-shaped bread, the bread with golden-brown crust in the breadbasket for baking.",
+    "Use the right arm to place the square loaf of bread and the light brown loaf with smooth sides into the breadbasket for dough.",
+    "Take the bread with firm crust edges and the bread with warm golden color to the breadbasket with spiral lines",
+    "Grab two breads the slice-shaped bread and the light brown loaf with smooth sides and place in the breadbasket made of woven wood.",
+    "Move the bread with rounded corners and the small loaf with curved top to the wooden breadbasket",
+    "Move the bread loaf with square shape and the soft brown bread at once into the smooth beige breadbasket.",
+    "Grab both the square loaf of bread and the small golden brown bread with the right arm and place in the breadbasket with flat base.",
+    "Grab the bread with firm crust edges and the bread with warm golden color quickly and drop them into the breadbasket with flat base.",
+    "Lift the bread with firm crust edges and the smooth loaf with rounded edges at once with the right arm, then set them in the spiral ridged breadbasket.",
+    "Pick the bread with golden surface color and the bread with split top, place them in the round breadbasket.",
+    "Shift the bread with golden surface color and the smooth loaf with rounded edges into the palm-sized breadbasket",
+    "Simultaneously use the right arm to drop the slice-shaped bread and the hand-sized oval loaf in the breadbasket with spiral lines.",
+    "Put the brown bread loaf and the soft brown bread into the breadbasket shaped like a bowl using two arms.",
+    "Simultaneously grab the golden bread and the small golden brown bread, drop in the breadbasket made of woven wood.",
+    "Pick the bread with firm crust edges and the bread with split top and set them in the spiral ridged breadbasket.",
+    "Place the golden brown loaf-shaped bread and the small loaf with curved top in the spiral ridged breadbasket using the right arm",
+    "Take the bread with firm crust edges and the brown loaf, place them inside the spiral ridged breadbasket.",
+    "Take the square loaf of bread and the brown loaf together and place them into the round breadbasket.",
+    "Lift the bread with golden surface color and the hand-sized oval loaf with two arms, put in the round breadbasket.",
+    "Simultaneously grab the soft golden baked bread and the hand-sized oval loaf using the right arm, then drop them in the breadbasket with spiral lines.",
+    "Shift the brown bread loaf and the small golden brown bread together to the breadbasket with spiral lines.",
+    "Pick the golden crusted bread slice and the bread with split top for the the smooth beige breadbasket",
+    "Use both arms to move the brown bread loaf, the small golden brown bread to the medium breadbasket.",
+    "Pick up both the golden crusted bread slice and the hand-sized oval loaf, then place them in the breadbasket with flat base.",
+    "Take the golden bread and the small loaf with curved top then place in the breadbasket made of woven wood.",
+    "Grab both the bread loaf with square shape and the light brown loaf with smooth sides, drop into the breadbasket for dough.",
+    "Use two arms and set the bread with firm crust edges, the light brown bread with ridges in the round breadbasket.",
+    "Use the right arm to place the rectangular bread soft inside and the small golden brown bread into the breadbasket for dough.",
+    "Take the square loaf of bread and the light brown loaf with smooth sides to the breadbasket with spiral lines",
+    "Grab two breads the brown bread loaf and the brown loaf and place in the wooden breadbasket.",
+    "Move the bread with rounded corners and the light brown loaf with smooth sides to the breadbasket for dough",
+    "Move the golden bread and the golden bread loaf at once into the breadbasket made of woven wood.",
+    "Grab both the bread with firm crust edges and the smooth loaf with rounded edges with the right arm and place in the breadbasket for dough.",
+    "Grab the slice-shaped bread and the smooth loaf with rounded edges quickly and drop them into the breadbasket for baking.",
+    "Lift the bread loaf with square shape and the smooth loaf with rounded edges at once with the right arm, then set them in the round breadbasket.",
+    "Pick the soft golden baked bread and the small golden brown bread, place them in the round breadbasket.",
+    "Shift the rectangular bread soft inside and the smooth loaf with rounded edges into the breadbasket with flat base"
+  ],
+  "unseen": [
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the oval-shaped soft bread and place in the round beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the oval bread, then place them in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the oval-shaped soft bread and place them in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and put them in the light wooden breadbasket.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the round beige breadbasket using the right arm",
+    "Use one arm to grab the small loaf-shaped bread and the rounded oval bread, drop in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the oval bread and place in the round beige breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the oval bread, then place them in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the light wooden breadbasket.",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and drop it into the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and put them in the round beige breadbasket.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the round beige breadbasket using the right arm",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the oval bread, then place them in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and drop it into the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and put them in the beige breadbasket.",
+    "Place the small loaf-shaped bread and the oval bread into the beige breadbasket using the right arm",
+    "Use one arm to grab the bread loaf medium-sized and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread with two arms, place in the light wooden breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the oval bread and place in the light wooden breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the oval bread, then place them in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop them into the round beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval bread and place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop it into the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Place the bread loaf medium-sized and the oval bread into the light wooden breadbasket using the right arm",
+    "Use one arm to grab the soft rectangular bread loaf and the oval-shaped soft bread, drop in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the oval bread and place in the light wooden breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop them into the light wooden breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval bread and place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop it into the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and put them in the round beige breadbasket.",
+    "Place the small loaf-shaped bread and the oval bread into the light wooden breadbasket using the right arm",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the oval bread and place in the round beige breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the oval bread, then place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop them into the light wooden breadbasket.",
+    "Pick the bread loaf medium-sized and the rounded oval bread and place them in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop it into the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and put them in the light wooden breadbasket.",
+    "Place the small loaf-shaped bread and the rounded oval bread into the light wooden breadbasket using the right arm",
+    "Use one arm to grab the small loaf-shaped bread and the rounded oval bread, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the round beige breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop them into the light wooden breadbasket.",
+    "Pick the soft rectangular bread loaf and the rounded oval bread and place them in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and drop it into the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and put them in the light wooden breadbasket.",
+    "Place the soft rectangular bread loaf and the rounded oval bread into the beige breadbasket using the right arm",
+    "Use one arm to grab the small loaf-shaped bread and the rounded oval bread, drop in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop it into the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the light wooden breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the round beige breadbasket using the right arm",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread with two arms, place in the light wooden breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the oval bread and place in the round beige breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the rounded oval bread, then place them in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop them into the round beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop it into the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the light wooden breadbasket.",
+    "Place the bread loaf medium-sized and the oval bread into the beige breadbasket using the right arm",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the oval bread, then place them in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop them into the round beige breadbasket.",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop it into the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and put them in the round beige breadbasket.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the round beige breadbasket using the right arm",
+    "Use one arm to grab the soft rectangular bread loaf and the oval bread, drop in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread with two arms, place in the beige breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the rounded oval bread and place in the light wooden breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the rounded oval bread, then place them in the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop them into the round beige breadbasket.",
+    "Pick the small loaf-shaped bread and the oval bread and place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop it into the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and put them in the light wooden breadbasket.",
+    "Place the small loaf-shaped bread and the oval bread into the light wooden breadbasket using the right arm",
+    "Use one arm to grab the soft rectangular bread loaf and the oval-shaped soft bread, drop in the light wooden breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode31.json b/place_bread_basket/demo_clean/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..be8132a095b22cb5251d04ac8c8e3f1f9aa49e32
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the bread block with light patches to the medium breadbasket with perforated sides using one arm.",
+    "Grab the doughy and soft bread for the white oval breadbasket with the left arm",
+    "Lift the doughy and soft bread and transfer to the white oval breadbasket.",
+    "Pick the golden bread loaf and put it into the beige basket with white grid design.",
+    "Use the left arm to grab the golden bread and drop it inside the basket for bread beige plastic.",
+    "Lift the cuboid bread and set it in the basket for bread beige plastic.",
+    "Put the golden bread loaf into the smooth textured breadbasket after grabbing it.",
+    "Pick the bread loaf with bumpy surface and move it to the smooth textured breadbasket.",
+    "Use the left arm to grab the bread loaf with uneven edges for the basket for carrying bread beige",
+    "Grab the bread block with light patches, drop it into the medium breadbasket with perforated sides.",
+    "Drop the doughy and soft bread into the beige plastic breadbasket",
+    "Grab the golden bread loaf with the left arm and drop it in the medium oval basket for bread.",
+    "Put the light golden brown bread into the oval-shaped breadbasket using an arm.",
+    "Pick up the bread loaf with uneven edges and drop it in the oval perforated breadbasket white edges.",
+    "Grab the soft bread with one hand and set it in the beige basket with white grid design.",
+    "Grab the bread block with light patches with an arm and set in the basket for carrying bread beige.",
+    "Pick up the bread loaf with uneven edges and put it in the oval perforated breadbasket white edges.",
+    "Move the doughy and soft bread to the white oval breadbasket using one arm.",
+    "Grab the hand-sized bread block for the basket for carrying bread beige with the left arm",
+    "Lift the square-shaped bread and transfer to the beige plastic breadbasket.",
+    "Pick the bread loaf with uneven edges and put it into the white oval breadbasket.",
+    "Use the left arm to grab the doughy and soft bread and drop it inside the beige plastic breadbasket.",
+    "Lift the hand-sized bread block and set it in the white oval breadbasket.",
+    "Put the doughy and soft bread into the beige breadbasket after grabbing it.",
+    "Pick the hand-sized bread block and move it to the medium breadbasket with perforated sides.",
+    "Use the left arm to grab the light golden brown bread for the oval perforated breadbasket white edges",
+    "Grab the soft bread, drop it into the medium breadbasket with perforated sides.",
+    "Drop the doughy and soft bread into the smooth textured breadbasket",
+    "Grab the bread block with light patches with the left arm and drop it in the basket for bread beige plastic.",
+    "Put the hand-sized bread block into the oval-shaped breadbasket using an arm.",
+    "Pick up the bread with rough texture and drop it in the medium oval basket for bread.",
+    "Grab the light golden brown bread with one hand and set it in the medium breadbasket with perforated sides.",
+    "Grab the golden bread with an arm and set in the white oval breadbasket.",
+    "Pick up the hand-sized bread block and put it in the oval perforated breadbasket white edges.",
+    "Move the bread block with light patches to the basket for bread beige plastic using one arm.",
+    "Grab the doughy and soft bread for the medium breadbasket with perforated sides with the left arm",
+    "Lift the cuboid bread and transfer to the oval perforated breadbasket white edges.",
+    "Pick the soft bread and put it into the beige plastic breadbasket.",
+    "Use the left arm to grab the cuboid bread and drop it inside the medium plastic breadbasket oval shape.",
+    "Lift the square-shaped bread and set it in the medium plastic breadbasket oval shape.",
+    "Put the soft bread into the basket for carrying bread beige after grabbing it.",
+    "Pick the light golden brown bread and move it to the medium plastic breadbasket oval shape.",
+    "Use the left arm to grab the hand-sized bread block for the basket for bread beige plastic",
+    "Grab the bread loaf with uneven edges, drop it into the beige basket with white grid design.",
+    "Drop the bread block with light patches into the medium plastic breadbasket oval shape",
+    "Grab the golden bread with the left arm and drop it in the white oval breadbasket.",
+    "Put the hand-sized bread block into the basket for bread beige plastic using an arm.",
+    "Pick up the bread loaf with bumpy surface and drop it in the oval perforated breadbasket white edges.",
+    "Grab the light golden brown bread with one hand and set it in the medium plastic breadbasket oval shape.",
+    "Grab the hand-sized bread block with an arm and set in the basket for carrying bread beige.",
+    "Pick up the square-shaped bread and put it in the beige breadbasket.",
+    "Move the light golden brown bread to the smooth textured breadbasket using one arm.",
+    "Grab the bread block with light patches for the medium oval basket for bread with the left arm",
+    "Lift the square-shaped bread and transfer to the beige plastic breadbasket.",
+    "Pick the square-shaped bread and put it into the basket for bread beige plastic.",
+    "Use the left arm to grab the bread with rough texture and drop it inside the smooth textured breadbasket.",
+    "Lift the golden bread loaf and set it in the oval perforated breadbasket white edges.",
+    "Put the bread loaf with bumpy surface into the beige plastic breadbasket after grabbing it.",
+    "Pick the bread with rough texture and move it to the beige plastic breadbasket.",
+    "Use the left arm to grab the doughy and soft bread for the oval-shaped breadbasket",
+    "Grab the cuboid bread, drop it into the basket for carrying bread beige.",
+    "Drop the doughy and soft bread into the white oval breadbasket",
+    "Grab the bread with rough texture with the left arm and drop it in the medium breadbasket with perforated sides.",
+    "Put the golden bread loaf into the medium plastic breadbasket oval shape using an arm.",
+    "Pick up the square-shaped bread and drop it in the oval-shaped breadbasket.",
+    "Grab the golden bread loaf with one hand and set it in the medium oval basket for bread.",
+    "Grab the bread loaf with uneven edges with an arm and set in the smooth textured breadbasket.",
+    "Pick up the bread block with light patches and put it in the oval perforated breadbasket white edges.",
+    "Move the cuboid bread to the white oval breadbasket using one arm.",
+    "Grab the bread block with light patches for the beige breadbasket with the left arm",
+    "Lift the golden bread loaf and transfer to the smooth textured breadbasket.",
+    "Pick the bread block with light patches and put it into the beige plastic breadbasket.",
+    "Use the left arm to grab the cuboid bread and drop it inside the oval perforated breadbasket white edges.",
+    "Lift the cuboid bread and set it in the basket for bread beige plastic.",
+    "Put the golden bread loaf into the medium plastic breadbasket oval shape after grabbing it.",
+    "Pick the square-shaped bread and move it to the oval-shaped breadbasket.",
+    "Use the left arm to grab the bread block with light patches for the beige breadbasket",
+    "Grab the golden bread loaf, drop it into the basket for bread beige plastic.",
+    "Drop the golden bread loaf into the oval-shaped breadbasket",
+    "Grab the bread loaf with bumpy surface with the left arm and drop it in the oval perforated breadbasket white edges.",
+    "Put the doughy and soft bread into the medium plastic breadbasket oval shape using an arm.",
+    "Pick up the doughy and soft bread and drop it in the oval perforated breadbasket white edges.",
+    "Grab the golden bread with one hand and set it in the basket for bread beige plastic.",
+    "Grab the hand-sized bread block with an arm and set in the beige plastic breadbasket.",
+    "Pick up the bread with rough texture and put it in the smooth textured breadbasket.",
+    "Move the cuboid bread to the medium breadbasket with perforated sides using one arm.",
+    "Grab the golden bread for the beige basket with white grid design with the left arm",
+    "Lift the light golden brown bread and transfer to the beige breadbasket.",
+    "Pick the hand-sized bread block and put it into the medium plastic breadbasket oval shape.",
+    "Use the left arm to grab the soft bread and drop it inside the medium plastic breadbasket oval shape.",
+    "Lift the soft bread and set it in the medium oval basket for bread.",
+    "Put the hand-sized bread block into the medium breadbasket with perforated sides after grabbing it.",
+    "Pick the hand-sized bread block and move it to the medium breadbasket with perforated sides.",
+    "Use the left arm to grab the bread loaf with uneven edges for the oval perforated breadbasket white edges",
+    "Grab the bread block with light patches, drop it into the basket for carrying bread beige.",
+    "Drop the bread loaf with bumpy surface into the basket for carrying bread beige",
+    "Grab the hand-sized bread block with the left arm and drop it in the basket for carrying bread beige.",
+    "Put the golden bread loaf into the basket for carrying bread beige using an arm.",
+    "Pick up the golden bread and drop it in the medium breadbasket with perforated sides.",
+    "Grab the bread block with light patches with one hand and set it in the oval perforated breadbasket white edges."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the rectangular bread loaf, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the bread with golden crust and place in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface into the breadbasket with hollowed white walls using the left arm",
+    "Grab the bread loaf with soft surface with one arm, place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and drop it into the white basket with beige bottom.",
+    "Grab the bread with golden crust and put it in the breadbasket with smooth bottom grid sides.",
+    "Pick the bread with golden crust and place it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with hollowed white walls",
+    "Grab the bread with golden crust and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the bread loaf with soft surface, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the bread loaf with soft surface and place in the white basket with beige bottom.",
+    "Place the bread loaf with soft surface into the breadbasket with hollowed white walls using the left arm",
+    "Grab the bread loaf with soft surface with one arm, place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and place it in the white basket with beige bottom.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with smooth bottom grid sides.",
+    "Pick the bread with golden crust and drop it in the breadbasket with hollowed white walls",
+    "Grab the rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the bread loaf with soft surface, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the bread loaf with soft surface and place in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface into the breadbasket with smooth bottom grid sides using the left arm",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and place it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with hollowed white walls",
+    "Grab the rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the bread loaf with soft surface, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the bread loaf with soft surface and place in the white basket with beige bottom.",
+    "Place the bread loaf with soft surface into the breadbasket with hollowed white walls using the left arm",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and put it in the white basket with beige bottom.",
+    "Pick the bread loaf with soft surface and place it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and drop it in the white basket with beige bottom",
+    "Grab the bread with golden crust and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the rectangular bread loaf, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the rectangular bread loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Place the bread with golden crust into the breadbasket with hollowed white walls using the left arm",
+    "Grab the rectangular bread loaf with one arm, place in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and drop it into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and put it in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and place it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with hollowed white walls",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the rectangular bread loaf, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the bread loaf with soft surface and place in the breadbasket with hollowed white walls.",
+    "Place the rectangular bread loaf into the breadbasket with smooth bottom grid sides using the left arm",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with smooth bottom grid sides.",
+    "Pick the rectangular bread loaf and place it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick up the bread with golden crust, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the bread loaf with soft surface and place in the white basket with beige bottom.",
+    "Place the bread loaf with soft surface into the breadbasket with smooth bottom grid sides using the left arm",
+    "Grab the bread with golden crust with one arm, place in the white basket with beige bottom.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and place it in the white basket with beige bottom.",
+    "Use one arm to grab the rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Pick the bread with golden crust and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the bread with golden crust, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the bread with golden crust and place in the breadbasket with smooth bottom grid sides.",
+    "Place the bread with golden crust into the breadbasket with hollowed white walls using the left arm",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and put it in the white basket with beige bottom.",
+    "Pick the bread with golden crust and place it in the white basket with beige bottom.",
+    "Use one arm to grab the rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and drop it in the white basket with beige bottom",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick up the bread loaf with soft surface, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the bread with golden crust and place in the white basket with beige bottom.",
+    "Place the bread loaf with soft surface into the breadbasket with hollowed white walls using the left arm",
+    "Grab the rectangular bread loaf with one arm, place in the white basket with beige bottom.",
+    "Grab the bread with golden crust and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with smooth bottom grid sides.",
+    "Pick the rectangular bread loaf and place it in the white basket with beige bottom.",
+    "Use one arm to grab the bread with golden crust, drop in the white basket with beige bottom.",
+    "Pick the bread with golden crust and drop it in the breadbasket with hollowed white walls",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick up the bread with golden crust, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the rectangular bread loaf and place in the white basket with beige bottom.",
+    "Place the bread loaf with soft surface into the breadbasket with smooth bottom grid sides using the left arm",
+    "Grab the rectangular bread loaf with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and put it in the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and place it in the white basket with beige bottom.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with hollowed white walls.",
+    "Pick the bread loaf with soft surface and drop it in the white basket with beige bottom",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode32.json b/place_bread_basket/demo_clean/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..8deb267df54adff6d328d511636eff6cadb874ed
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simultaneously grab the bread with golden surface color and the bread with golden crust using the dual arm, then drop them in the breadbasket with smooth woven texture.",
+    "Use two arms and set the golden bread, the round bread with braided top in the medium woven breadbasket.",
+    "Move the slice-shaped bread and the smooth crusty small bread at once into the breadbasket with wicker weave pattern.",
+    "Pick the square loaf of bread and the golden brown bread with braided design for the the light brown basket for bread",
+    "Take the rectangular bread soft inside and the round bread with braided top, place them inside the breadbasket with rounded edges.",
+    "Move the bread with firm crust edges and the round bread with braided top to the medium woven breadbasket",
+    "Put the brown bread loaf and the golden brown bread into the brown breadbasket with rounded corners using two arms.",
+    "Grab both the square loaf of bread and the smooth crusty small bread with the dual arm and place in the brown breadbasket with rounded corners.",
+    "Grab both the soft golden baked bread and the round bread with crusty texture, drop into the smooth textured brown breadbasket.",
+    "Take the slice-shaped bread and the golden brown bread then place in the breadbasket for holding bread.",
+    "Pick the golden brown loaf-shaped bread and the golden brown bread with braided design and set them in the light brown wicker breadbasket.",
+    "Grab the bread with golden surface color and the round bread with crusty texture quickly and drop them into the light brown wicker breadbasket.",
+    "Take the bread loaf with square shape and the golden brown bread with braided design to the breadbasket with rounded edges",
+    "Shift the bread with rounded corners and the golden brown bread with braided design into the smooth textured brown breadbasket",
+    "Pick up both the golden crusted bread slice and the golden brown bread, then place them in the light brown wicker breadbasket.",
+    "Grab two breads the bread with rounded corners and the small bread and place in the brown breadbasket with rounded corners.",
+    "Use the dual arm to place the square loaf of bread and the small bread into the smooth textured brown breadbasket.",
+    "Use both arms to move the golden brown loaf-shaped bread, the soft golden bread to the light brown basket for bread.",
+    "Simultaneously use the dual arm to drop the rectangular bread soft inside and the bread with golden crust in the smooth textured brown breadbasket.",
+    "Lift the square loaf of bread and the bread with golden crust with two arms, put in the light brown basket for bread.",
+    "Take the bread with firm crust edges and the braided bread loaf together and place them into the breadbasket with rounded edges.",
+    "Place the bread with firm crust edges and the soft doughy bread in the light brown basket for bread using the dual arm",
+    "Lift the brown bread loaf and the braided bread loaf at once with the dual arm, then set them in the breadbasket with wicker weave pattern.",
+    "Pick the brown bread loaf and the small golden baked bread, place them in the medium-sized rectangular breadbasket.",
+    "Shift the soft golden baked bread and the soft golden bread together to the medium woven breadbasket.",
+    "Simultaneously grab the rectangular bread soft inside and the round bread with crusty texture, drop in the breadbasket with wicker weave pattern.",
+    "Simultaneously grab the soft golden baked bread and the golden bread loaf with soft inside using the dual arm, then drop them in the breadbasket with smooth woven texture.",
+    "Use two arms and set the slice-shaped bread, the small golden baked bread in the medium woven breadbasket.",
+    "Move the bread with rounded corners and the soft doughy bread at once into the breadbasket with rounded edges.",
+    "Pick the bread with rounded corners and the smooth crusty small bread for the the woven rectangular breadbasket",
+    "Take the brown bread loaf and the bread with golden crust, place them inside the breadbasket with rounded edges.",
+    "Move the brown bread loaf and the golden brown bread to the light brown wicker breadbasket",
+    "Put the square loaf of bread and the golden brown bread with braided design into the breadbasket with smooth woven texture using two arms.",
+    "Grab both the golden bread and the round bread with braided top with the dual arm and place in the light brown wicker breadbasket.",
+    "Grab both the soft golden baked bread and the round bread with braided top, drop into the brown breadbasket with rounded corners.",
+    "Take the square loaf of bread and the golden brown bread then place in the medium woven breadbasket.",
+    "Pick the golden bread and the soft golden bread and set them in the medium-sized rectangular breadbasket.",
+    "Grab the soft golden baked bread and the soft golden bread quickly and drop them into the breadbasket with wicker weave pattern.",
+    "Take the golden crusted bread slice and the soft doughy bread to the light brown wicker breadbasket",
+    "Shift the brown bread loaf and the soft golden bread into the brown breadbasket",
+    "Pick up both the rectangular bread soft inside and the golden brown bread with braided design, then place them in the brown breadbasket with rounded corners.",
+    "Grab two breads the bread with firm crust edges and the braided bread loaf and place in the medium-sized rectangular breadbasket.",
+    "Use the dual arm to place the golden crusted bread slice and the smooth crusty small bread into the brown breadbasket.",
+    "Use both arms to move the bread loaf with square shape, the round bread with crusty texture to the breadbasket with smooth woven texture.",
+    "Simultaneously use the dual arm to drop the slice-shaped bread and the soft golden bread in the light brown basket for bread.",
+    "Lift the square loaf of bread and the small golden baked bread with two arms, put in the medium woven breadbasket.",
+    "Take the bread with rounded corners and the smooth crusty small bread together and place them into the light brown wicker breadbasket.",
+    "Place the golden crusted bread slice and the round bread with braided top in the light brown wicker breadbasket using the dual arm",
+    "Lift the golden bread and the bread with golden crust at once with the dual arm, then set them in the medium woven breadbasket.",
+    "Pick the bread with firm crust edges and the bread with golden crust, place them in the light brown basket for bread.",
+    "Shift the golden crusted bread slice and the golden brown bread together to the woven rectangular breadbasket.",
+    "Simultaneously grab the soft golden baked bread and the soft golden bread, drop in the breadbasket with rounded edges.",
+    "Simultaneously grab the rectangular bread soft inside and the round bread with braided top using the dual arm, then drop them in the woven rectangular breadbasket.",
+    "Use two arms and set the golden crusted bread slice, the soft doughy bread in the medium woven breadbasket.",
+    "Move the golden bread and the small bread at once into the smooth textured brown breadbasket.",
+    "Pick the bread with rounded corners and the braided bread loaf for the the woven rectangular breadbasket",
+    "Take the bread with golden surface color and the golden bread loaf with soft inside, place them inside the light brown wicker breadbasket.",
+    "Move the bread with firm crust edges and the golden brown bread with braided design to the smooth textured brown breadbasket",
+    "Put the golden bread and the small bread into the medium woven breadbasket using two arms.",
+    "Grab both the soft golden baked bread and the small bread with the dual arm and place in the medium-sized rectangular breadbasket.",
+    "Grab both the slice-shaped bread and the golden brown bread with braided design, drop into the brown breadbasket.",
+    "Take the bread loaf with square shape and the small bread then place in the brown breadbasket with rounded corners.",
+    "Pick the golden brown loaf-shaped bread and the golden brown bread with braided design and set them in the light brown wicker breadbasket.",
+    "Grab the rectangular bread soft inside and the small golden baked bread quickly and drop them into the light brown basket for bread.",
+    "Take the bread with firm crust edges and the braided bread loaf to the breadbasket with rounded edges",
+    "Shift the golden brown loaf-shaped bread and the bread with golden crust into the breadbasket with smooth woven texture",
+    "Pick up both the square loaf of bread and the golden brown bread, then place them in the woven rectangular breadbasket.",
+    "Grab two breads the bread with rounded corners and the braided bread loaf and place in the light brown wicker breadbasket.",
+    "Use the dual arm to place the slice-shaped bread and the small bread into the smooth textured brown breadbasket.",
+    "Use both arms to move the slice-shaped bread, the soft doughy bread to the light brown wicker breadbasket.",
+    "Simultaneously use the dual arm to drop the golden crusted bread slice and the soft golden bread in the breadbasket for holding bread.",
+    "Lift the golden crusted bread slice and the small golden baked bread with two arms, put in the smooth textured brown breadbasket.",
+    "Take the square loaf of bread and the golden brown bread together and place them into the breadbasket for holding bread.",
+    "Place the bread with firm crust edges and the bread with golden crust in the brown breadbasket with rounded corners using the dual arm",
+    "Lift the brown bread loaf and the small bread at once with the dual arm, then set them in the light brown wicker breadbasket.",
+    "Pick the bread with firm crust edges and the braided bread loaf, place them in the woven rectangular breadbasket.",
+    "Shift the bread loaf with square shape and the small bread together to the light brown wicker breadbasket.",
+    "Simultaneously grab the square loaf of bread and the golden brown bread, drop in the light brown basket for bread.",
+    "Simultaneously grab the rectangular bread soft inside and the small golden baked bread using the dual arm, then drop them in the breadbasket with rounded edges.",
+    "Use two arms and set the soft golden baked bread, the soft doughy bread in the brown breadbasket.",
+    "Move the bread loaf with square shape and the small golden baked bread at once into the breadbasket for holding bread.",
+    "Pick the slice-shaped bread and the round bread with braided top for the the light brown basket for bread",
+    "Take the rectangular bread soft inside and the soft doughy bread, place them inside the light brown basket for bread.",
+    "Move the golden crusted bread slice and the small golden baked bread to the breadbasket with wicker weave pattern",
+    "Put the bread loaf with square shape and the small bread into the medium woven breadbasket using two arms.",
+    "Grab both the slice-shaped bread and the golden brown bread with braided design with the dual arm and place in the medium-sized rectangular breadbasket.",
+    "Grab both the rectangular bread soft inside and the small golden baked bread, drop into the breadbasket with wicker weave pattern.",
+    "Take the bread with rounded corners and the small golden baked bread then place in the breadbasket for holding bread.",
+    "Pick the golden brown loaf-shaped bread and the smooth crusty small bread and set them in the breadbasket with smooth woven texture.",
+    "Grab the bread with golden surface color and the golden bread loaf with soft inside quickly and drop them into the light brown wicker breadbasket.",
+    "Take the slice-shaped bread and the soft golden bread to the medium woven breadbasket",
+    "Shift the bread with firm crust edges and the round bread with crusty texture into the brown breadbasket with rounded corners",
+    "Pick up both the soft golden baked bread and the round bread with braided top, then place them in the medium woven breadbasket.",
+    "Grab two breads the golden brown loaf-shaped bread and the round bread with crusty texture and place in the breadbasket with rounded edges.",
+    "Use the dual arm to place the golden bread and the golden brown bread with braided design into the breadbasket with rounded edges.",
+    "Use both arms to move the bread with golden surface color, the small bread to the brown breadbasket with rounded corners.",
+    "Simultaneously use the dual arm to drop the golden bread and the golden bread loaf with soft inside in the medium-sized rectangular breadbasket.",
+    "Lift the bread with rounded corners and the round bread with crusty texture with two arms, put in the breadbasket with rounded edges.",
+    "Take the bread with firm crust edges and the soft golden bread together and place them into the breadbasket with wicker weave pattern.",
+    "Place the rectangular bread soft inside and the golden bread loaf with soft inside in the breadbasket with smooth woven texture using the dual arm"
+  ],
+  "unseen": [
+    "Grab the soft rectangular bread loaf and the braided top round bread and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the round braided loaf, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the palm-sized braided golden bread, then place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop them into the rectangular light brown breadbasket.",
+    "Place the small loaf-shaped bread and the round braided loaf into the rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick the bread loaf medium-sized and the palm-sized braided golden bread and place in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the braided top round bread with two arms, place in the rectangular light brown breadbasket.",
+    "Pick the soft rectangular bread loaf and the braided top round bread and place them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread and put them in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the braided top round bread and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the round braided loaf, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the palm-sized braided golden bread, then place them in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop them into the rectangular light brown breadbasket.",
+    "Place the bread loaf medium-sized and the palm-sized braided golden bread into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the soft rectangular bread loaf and the palm-sized braided golden bread and place in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread with two arms, place in the medium light brown breadbasket.",
+    "Pick the bread loaf medium-sized and the palm-sized braided golden bread and place them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and put them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the round braided loaf, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the braided top round bread, then place them in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop them into the rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the braided top round bread into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the bread loaf medium-sized and the braided top round bread and place in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf with two arms, place in the rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the round braided loaf and place them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread and put them in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the braided top round bread and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the round braided loaf, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the palm-sized braided golden bread, then place them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop them into the rectangular light brown breadbasket.",
+    "Place the small loaf-shaped bread and the palm-sized braided golden bread into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the small loaf-shaped bread and the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread with two arms, place in the rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and the braided top round bread and place them in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and put them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the palm-sized braided golden bread, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the palm-sized braided golden bread, then place them in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop them into the rectangular breadbasket.",
+    "Place the soft rectangular bread loaf and the braided top round bread into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the small loaf-shaped bread and the round braided loaf and place in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the braided top round bread with two arms, place in the rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and the braided top round bread and place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and put them in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the braided top round bread, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the braided top round bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread and drop them into the rectangular light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the braided top round bread into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the bread loaf medium-sized and the palm-sized braided golden bread and place in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread with two arms, place in the medium light brown breadbasket.",
+    "Pick the small loaf-shaped bread and the palm-sized braided golden bread and place them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and put them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the braided top round bread, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the round braided loaf, then place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the braided top round bread and drop them into the rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the braided top round bread into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the small loaf-shaped bread and the braided top round bread and place in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread with two arms, place in the rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the round braided loaf and place them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and put them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the palm-sized braided golden bread, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the palm-sized braided golden bread, then place them in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop them into the medium light brown breadbasket.",
+    "Place the small loaf-shaped bread and the round braided loaf into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the soft rectangular bread loaf and the palm-sized braided golden bread and place in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the round braided loaf with two arms, place in the rectangular light brown breadbasket.",
+    "Pick the bread loaf medium-sized and the braided top round bread and place them in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the braided top round bread and put them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the braided top round bread, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the braided top round bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread and drop them into the rectangular breadbasket.",
+    "Place the soft rectangular bread loaf and the round braided loaf into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the bread loaf medium-sized and the palm-sized braided golden bread and place in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread with two arms, place in the medium light brown breadbasket.",
+    "Pick the bread loaf medium-sized and the palm-sized braided golden bread and place them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and put them in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the round braided loaf, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the palm-sized braided golden bread, then place them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop them into the medium light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the palm-sized braided golden bread into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick the small loaf-shaped bread and the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf with two arms, place in the medium light brown breadbasket.",
+    "Pick the small loaf-shaped bread and the round braided loaf and place them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the round braided loaf and put them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the braided top round bread and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the round braided loaf, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the round braided loaf, then place them in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop them into the rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the round braided loaf into the rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick the small loaf-shaped bread and the palm-sized braided golden bread and place in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the round braided loaf with two arms, place in the rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and the round braided loaf and place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and put them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop it into the rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode33.json b/place_bread_basket/demo_clean/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..b563f369a86318b233cdccb7809b4218ef42364c
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the light brown porous bread for the brown breadbasket",
+    "Lift the light brown porous bread and transfer to the brown breadbasket with rounded corners.",
+    "Grab the golden baked bread with the right arm and drop it in the medium woven breadbasket.",
+    "Pick up the rounded square loaf and put it in the smooth textured brown breadbasket.",
+    "Lift the golden baked bread and set it in the woven rectangular breadbasket.",
+    "Pick the medium bread with rounded sides and put it into the brown breadbasket with rounded corners.",
+    "Pick the medium-sized bread piece and move it to the woven rectangular breadbasket.",
+    "Pick up the fluffy baked bread and drop it in the brown breadbasket.",
+    "Grab the light brown porous bread with an arm and set in the brown breadbasket with rounded corners.",
+    "Grab the bread with rounded edges, drop it into the smooth textured brown breadbasket.",
+    "Grab the golden brown bread for the breadbasket with wicker weave pattern with the right arm",
+    "Use the right arm to grab the bread with soft texture and drop it inside the medium woven breadbasket.",
+    "Grab the golden brown bread with one hand and set it in the breadbasket for holding bread.",
+    "Put the medium bread with rounded sides into the breadbasket for holding bread after grabbing it.",
+    "Drop the medium-sized bread piece into the medium-sized rectangular breadbasket",
+    "Put the fluffy baked bread into the light brown wicker breadbasket using an arm.",
+    "Move the sponge-textured golden bread to the breadbasket with wicker weave pattern using one arm.",
+    "Use the right arm to grab the bread with rounded edges for the medium-sized rectangular breadbasket",
+    "Lift the rounded square loaf and transfer to the light brown basket for bread.",
+    "Grab the fluffy baked bread with the right arm and drop it in the light brown basket for bread.",
+    "Pick up the bread with soft texture and put it in the smooth textured brown breadbasket.",
+    "Lift the medium-sized bread piece and set it in the brown breadbasket with rounded corners.",
+    "Pick the square-shaped bread piece and put it into the breadbasket with smooth woven texture.",
+    "Pick the bread with rounded edges and move it to the woven rectangular breadbasket.",
+    "Pick up the golden brown bread and drop it in the woven rectangular breadbasket.",
+    "Grab the medium bread with rounded sides with an arm and set in the woven rectangular breadbasket.",
+    "Grab the medium bread with rounded sides, drop it into the medium woven breadbasket.",
+    "Grab the fluffy baked bread for the breadbasket with rounded edges with the right arm",
+    "Use the right arm to grab the square-shaped bread piece and drop it inside the light brown basket for bread.",
+    "Grab the fluffy baked bread with one hand and set it in the medium-sized rectangular breadbasket.",
+    "Put the square-shaped bread piece into the breadbasket with rounded edges after grabbing it.",
+    "Drop the fluffy baked bread into the brown breadbasket with rounded corners",
+    "Put the bread with soft texture into the breadbasket with rounded edges using an arm.",
+    "Move the sponge-textured golden bread to the brown breadbasket using one arm.",
+    "Use the right arm to grab the bread with soft texture for the breadbasket with wicker weave pattern",
+    "Lift the bread with soft texture and transfer to the breadbasket with rounded edges.",
+    "Grab the fluffy baked bread with the right arm and drop it in the breadbasket with smooth woven texture.",
+    "Pick up the medium bread with rounded sides and put it in the breadbasket with wicker weave pattern.",
+    "Lift the medium-sized bread piece and set it in the light brown basket for bread.",
+    "Pick the medium-sized bread piece and put it into the breadbasket with rounded edges.",
+    "Pick the sponge-textured golden bread and move it to the breadbasket for holding bread.",
+    "Pick up the fluffy baked bread and drop it in the medium woven breadbasket.",
+    "Grab the rounded square loaf with an arm and set in the brown breadbasket.",
+    "Grab the light brown porous bread, drop it into the breadbasket for holding bread.",
+    "Grab the light brown porous bread for the breadbasket for holding bread with the right arm",
+    "Use the right arm to grab the golden baked bread and drop it inside the medium-sized rectangular breadbasket.",
+    "Grab the medium bread with rounded sides with one hand and set it in the breadbasket for holding bread.",
+    "Put the golden brown bread into the smooth textured brown breadbasket after grabbing it.",
+    "Drop the rounded square loaf into the light brown wicker breadbasket",
+    "Put the medium-sized bread piece into the breadbasket with rounded edges using an arm.",
+    "Move the bread with rounded edges to the smooth textured brown breadbasket using one arm.",
+    "Use the right arm to grab the golden baked bread for the light brown wicker breadbasket",
+    "Lift the sponge-textured golden bread and transfer to the light brown wicker breadbasket.",
+    "Grab the rounded square loaf with the right arm and drop it in the breadbasket with smooth woven texture.",
+    "Pick up the medium-sized bread piece and put it in the brown breadbasket.",
+    "Lift the square-shaped bread piece and set it in the smooth textured brown breadbasket.",
+    "Pick the rounded square loaf and put it into the breadbasket with wicker weave pattern.",
+    "Pick the medium-sized bread piece and move it to the medium-sized rectangular breadbasket.",
+    "Pick up the sponge-textured golden bread and drop it in the breadbasket with smooth woven texture.",
+    "Grab the golden baked bread with an arm and set in the medium-sized rectangular breadbasket.",
+    "Grab the golden baked bread, drop it into the breadbasket with smooth woven texture.",
+    "Grab the light brown porous bread for the light brown basket for bread with the right arm",
+    "Use the right arm to grab the soft square bread and drop it inside the medium woven breadbasket.",
+    "Grab the light brown porous bread with one hand and set it in the breadbasket with smooth woven texture.",
+    "Put the light brown porous bread into the brown breadbasket after grabbing it.",
+    "Drop the medium bread with rounded sides into the breadbasket for holding bread",
+    "Put the rounded square loaf into the medium woven breadbasket using an arm.",
+    "Move the square-shaped bread piece to the light brown basket for bread using one arm.",
+    "Use the right arm to grab the sponge-textured golden bread for the medium-sized rectangular breadbasket",
+    "Lift the fluffy baked bread and transfer to the light brown wicker breadbasket.",
+    "Grab the bread with rounded edges with the right arm and drop it in the light brown basket for bread.",
+    "Pick up the rounded square loaf and put it in the breadbasket with rounded edges.",
+    "Lift the rounded square loaf and set it in the breadbasket with smooth woven texture.",
+    "Pick the sponge-textured golden bread and put it into the brown breadbasket with rounded corners.",
+    "Pick the golden brown bread and move it to the smooth textured brown breadbasket.",
+    "Pick up the rounded square loaf and drop it in the breadbasket with wicker weave pattern.",
+    "Grab the rounded square loaf with an arm and set in the woven rectangular breadbasket.",
+    "Grab the medium-sized bread piece, drop it into the breadbasket with smooth woven texture.",
+    "Grab the square-shaped bread piece for the smooth textured brown breadbasket with the right arm",
+    "Use the right arm to grab the golden brown bread and drop it inside the medium-sized rectangular breadbasket.",
+    "Grab the fluffy baked bread with one hand and set it in the medium-sized rectangular breadbasket.",
+    "Put the fluffy baked bread into the light brown basket for bread after grabbing it.",
+    "Drop the sponge-textured golden bread into the light brown wicker breadbasket",
+    "Put the golden brown bread into the woven rectangular breadbasket using an arm.",
+    "Move the medium-sized bread piece to the breadbasket with rounded edges using one arm.",
+    "Use the right arm to grab the medium bread with rounded sides for the brown breadbasket with rounded corners",
+    "Lift the golden baked bread and transfer to the medium-sized rectangular breadbasket.",
+    "Grab the fluffy baked bread with the right arm and drop it in the breadbasket with smooth woven texture.",
+    "Pick up the bread with soft texture and put it in the breadbasket with smooth woven texture.",
+    "Lift the golden brown bread and set it in the breadbasket for holding bread.",
+    "Pick the medium-sized bread piece and put it into the breadbasket with rounded edges.",
+    "Pick the bread with rounded edges and move it to the woven rectangular breadbasket.",
+    "Pick up the square-shaped bread piece and drop it in the smooth textured brown breadbasket.",
+    "Grab the golden brown bread with an arm and set in the breadbasket with rounded edges.",
+    "Grab the square-shaped bread piece, drop it into the medium-sized rectangular breadbasket.",
+    "Grab the soft square bread for the breadbasket with rounded edges with the right arm",
+    "Use the right arm to grab the medium bread with rounded sides and drop it inside the breadbasket for holding bread.",
+    "Grab the golden brown bread with one hand and set it in the breadbasket with wicker weave pattern.",
+    "Put the golden baked bread into the smooth textured brown breadbasket after grabbing it.",
+    "Drop the bread with rounded edges into the breadbasket for holding bread"
+  ],
+  "unseen": [
+    "Use one arm to grab the spongy golden brown bread, drop in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the rectangular breadbasket.",
+    "Pick the square bread with light spots and place it in the rectangular light brown breadbasket.",
+    "Grab the soft bread with golden edges and put it in the rectangular light brown breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the rectangular breadbasket",
+    "Grab the square bread with light spots and drop it into the rectangular breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the rectangular breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the rectangular light brown breadbasket.",
+    "Place the soft bread with golden edges into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the rectangular breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the medium light brown breadbasket.",
+    "Pick the spongy golden brown bread and place it in the rectangular light brown breadbasket.",
+    "Grab the square bread with light spots and put it in the rectangular breadbasket.",
+    "Pick the square bread with light spots and drop it in the medium light brown breadbasket",
+    "Grab the square bread with light spots and drop it into the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the rectangular breadbasket.",
+    "Place the soft bread with golden edges into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the rectangular light brown breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the rectangular light brown breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the rectangular breadbasket.",
+    "Pick the spongy golden brown bread and place it in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and put it in the rectangular breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the rectangular light brown breadbasket",
+    "Grab the square bread with light spots and drop it into the medium light brown breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the rectangular light brown breadbasket.",
+    "Place the square bread with light spots into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the rectangular breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the rectangular breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Pick the soft bread with golden edges and place it in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and put it in the rectangular light brown breadbasket.",
+    "Pick the square bread with light spots and drop it in the medium light brown breadbasket",
+    "Grab the soft bread with golden edges and drop it into the medium light brown breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the rectangular breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the rectangular light brown breadbasket.",
+    "Place the square bread with light spots into the rectangular breadbasket using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the rectangular light brown breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and drop it into the medium light brown breadbasket.",
+    "Pick the soft bread with golden edges and place it in the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread and put it in the rectangular breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the rectangular breadbasket",
+    "Grab the soft bread with golden edges and drop it into the rectangular light brown breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the medium light brown breadbasket.",
+    "Place the square bread with light spots into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the medium light brown breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the rectangular breadbasket.",
+    "Pick the soft bread with golden edges and place it in the rectangular light brown breadbasket.",
+    "Grab the square bread with light spots and put it in the rectangular light brown breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the medium light brown breadbasket",
+    "Grab the soft bread with golden edges and drop it into the rectangular breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the medium light brown breadbasket.",
+    "Place the spongy golden brown bread into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the medium light brown breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the rectangular light brown breadbasket.",
+    "Pick the soft bread with golden edges and place it in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and put it in the rectangular light brown breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the rectangular breadbasket",
+    "Grab the soft bread with golden edges and drop it into the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the rectangular breadbasket.",
+    "Place the spongy golden brown bread into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the medium light brown breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the rectangular breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the rectangular light brown breadbasket.",
+    "Pick the spongy golden brown bread and place it in the rectangular light brown breadbasket.",
+    "Grab the soft bread with golden edges and put it in the rectangular breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the medium light brown breadbasket",
+    "Grab the spongy golden brown bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the rectangular light brown breadbasket.",
+    "Place the square bread with light spots into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the rectangular light brown breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and drop it into the rectangular light brown breadbasket.",
+    "Pick the spongy golden brown bread and place it in the rectangular breadbasket.",
+    "Grab the spongy golden brown bread and put it in the rectangular light brown breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the rectangular light brown breadbasket",
+    "Grab the soft bread with golden edges and drop it into the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the medium light brown breadbasket.",
+    "Place the soft bread with golden edges into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the medium light brown breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the rectangular light brown breadbasket.",
+    "Pick the spongy golden brown bread and place it in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and put it in the medium light brown breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the medium light brown breadbasket",
+    "Grab the soft bread with golden edges and drop it into the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the rectangular light brown breadbasket.",
+    "Place the soft bread with golden edges into the rectangular breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode34.json b/place_bread_basket/demo_clean/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..f122b8b9099e3afa906c7680ea18e04e54ddd52e
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bread with golden surface color and the light golden brown bread then place in the medium oval breadbasket.",
+    "Pick the slice-shaped bread and the golden bread, place them in the woven plastic breadbasket.",
+    "Pick the golden bread and the light golden brown bread and set them in the light brown breadbasket.",
+    "Use two arms and set the brown bread loaf, the hand-sized bread block in the breadbasket for small food items.",
+    "Move the brown bread loaf and the square-shaped bread at once into the light brown breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the bread loaf with bumpy surface using the right arm, then drop them in the oval basket for bread.",
+    "Shift the golden brown loaf-shaped bread and the bread block with light patches together to the oval basket for bread.",
+    "Grab both the bread with golden surface color and the bread loaf with uneven edges with the right arm and place in the oval breadbasket.",
+    "Simultaneously use the right arm to drop the bread with golden surface color and the bread block with light patches in the light brown breadbasket.",
+    "Place the slice-shaped bread and the bread loaf with bumpy surface in the oval basket for bread using the right arm",
+    "Grab two breads the bread loaf with square shape and the light golden brown bread and place in the light brown breadbasket.",
+    "Lift the golden brown loaf-shaped bread and the bread loaf with uneven edges at once with the right arm, then set them in the woven plastic breadbasket.",
+    "Simultaneously grab the rectangular bread soft inside and the bread loaf with uneven edges, drop in the oval breadbasket.",
+    "Pick the brown bread loaf and the hand-sized bread block for the the medium oval breadbasket",
+    "Move the bread loaf with square shape and the bread loaf with uneven edges to the basket with light brown weaving",
+    "Pick up both the brown bread loaf and the golden bread loaf, then place them in the two-hand-sized breadbasket.",
+    "Use the right arm to place the golden bread and the hand-sized bread block into the oval basket for bread.",
+    "Grab both the golden brown loaf-shaped bread and the golden bread loaf, drop into the synthetic material breadbasket.",
+    "Take the golden brown loaf-shaped bread and the square-shaped bread together and place them into the breadbasket for small food items.",
+    "Put the golden brown loaf-shaped bread and the golden bread into the light brown breadbasket using two arms.",
+    "Shift the golden bread and the square-shaped bread into the two-hand-sized breadbasket",
+    "Take the golden brown loaf-shaped bread and the doughy and soft bread, place them inside the basket with light brown weaving.",
+    "Use both arms to move the golden bread, the doughy and soft bread to the breadbasket for small food items.",
+    "Grab the brown bread loaf and the bread block with light patches quickly and drop them into the breadbasket for small food items.",
+    "Lift the golden bread and the light golden brown bread with two arms, put in the synthetic material breadbasket.",
+    "Take the soft golden baked bread and the light golden brown bread to the breadbasket for small food items",
+    "Take the square loaf of bread and the golden bread loaf then place in the basket with light brown weaving.",
+    "Pick the bread with firm crust edges and the golden bread loaf, place them in the breadbasket with curved base.",
+    "Pick the golden brown loaf-shaped bread and the bread loaf with bumpy surface and set them in the breadbasket with curved base.",
+    "Use two arms and set the bread with golden surface color, the bread with rough texture in the synthetic material breadbasket.",
+    "Move the golden bread and the doughy and soft bread at once into the breadbasket with curved base.",
+    "Simultaneously grab the brown bread loaf and the golden bread loaf using the right arm, then drop them in the oval basket for bread.",
+    "Shift the bread with firm crust edges and the hand-sized bread block together to the oval breadbasket.",
+    "Grab both the square loaf of bread and the bread loaf with uneven edges with the right arm and place in the smooth-textured breadbasket.",
+    "Simultaneously use the right arm to drop the bread loaf with square shape and the doughy and soft bread in the beige basket for holding bread.",
+    "Place the golden bread and the square-shaped bread in the synthetic material breadbasket using the right arm",
+    "Grab two breads the bread with firm crust edges and the golden bread loaf and place in the synthetic material breadbasket.",
+    "Lift the golden crusted bread slice and the golden bread loaf at once with the right arm, then set them in the woven plastic breadbasket.",
+    "Simultaneously grab the soft golden baked bread and the golden bread, drop in the medium oval breadbasket.",
+    "Pick the brown bread loaf and the bread with rough texture for the the beige basket for holding bread",
+    "Move the brown bread loaf and the cuboid bread to the breadbasket for small food items",
+    "Pick up both the rectangular bread soft inside and the light golden brown bread, then place them in the beige basket for holding bread.",
+    "Use the right arm to place the soft golden baked bread and the light golden brown bread into the breadbasket with curved base.",
+    "Grab both the bread with firm crust edges and the soft bread, drop into the smooth-textured breadbasket.",
+    "Take the rectangular bread soft inside and the bread loaf with bumpy surface together and place them into the breadbasket with curved base.",
+    "Put the bread with rounded corners and the light golden brown bread into the beige basket for holding bread using two arms.",
+    "Shift the golden crusted bread slice and the bread with rough texture into the woven plastic breadbasket",
+    "Take the brown bread loaf and the bread block with light patches, place them inside the woven plastic breadbasket.",
+    "Use both arms to move the golden brown loaf-shaped bread, the cuboid bread to the two-hand-sized breadbasket.",
+    "Grab the golden bread and the light golden brown bread quickly and drop them into the breadbasket for small food items.",
+    "Lift the square loaf of bread and the bread with rough texture with two arms, put in the basket with light brown weaving.",
+    "Take the brown bread loaf and the golden bread loaf to the light brown breadbasket",
+    "Take the golden crusted bread slice and the golden bread then place in the oval basket for bread.",
+    "Pick the brown bread loaf and the soft bread, place them in the light brown breadbasket.",
+    "Pick the golden crusted bread slice and the golden bread loaf and set them in the breadbasket with curved base.",
+    "Use two arms and set the bread with golden surface color, the bread block with light patches in the breadbasket with curved base.",
+    "Move the golden crusted bread slice and the cuboid bread at once into the smooth-textured breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the golden bread using the right arm, then drop them in the two-hand-sized breadbasket.",
+    "Shift the bread loaf with square shape and the soft bread together to the breadbasket with curved base.",
+    "Grab both the golden brown loaf-shaped bread and the golden bread loaf with the right arm and place in the smooth-textured breadbasket.",
+    "Simultaneously use the right arm to drop the golden bread and the golden bread in the breadbasket with curved base.",
+    "Place the bread with golden surface color and the hand-sized bread block in the medium oval breadbasket using the right arm",
+    "Grab two breads the square loaf of bread and the golden bread and place in the light brown breadbasket.",
+    "Lift the golden bread and the light golden brown bread at once with the right arm, then set them in the breadbasket for small food items.",
+    "Simultaneously grab the bread with rounded corners and the hand-sized bread block, drop in the beige basket for holding bread.",
+    "Pick the slice-shaped bread and the hand-sized bread block for the the smooth-textured breadbasket",
+    "Move the bread loaf with square shape and the square-shaped bread to the oval breadbasket",
+    "Pick up both the golden bread and the golden bread, then place them in the woven plastic breadbasket.",
+    "Use the right arm to place the rectangular bread soft inside and the golden bread loaf into the medium oval breadbasket.",
+    "Grab both the square loaf of bread and the bread with rough texture, drop into the oval breadbasket.",
+    "Take the golden crusted bread slice and the bread with rough texture together and place them into the basket with light brown weaving.",
+    "Put the bread with rounded corners and the golden bread into the light brown breadbasket using two arms.",
+    "Shift the golden crusted bread slice and the golden bread loaf into the woven plastic breadbasket",
+    "Take the bread with golden surface color and the square-shaped bread, place them inside the beige basket for holding bread.",
+    "Use both arms to move the golden bread, the bread with rough texture to the smooth-textured breadbasket.",
+    "Grab the bread with firm crust edges and the bread loaf with bumpy surface quickly and drop them into the beige basket for holding bread.",
+    "Lift the square loaf of bread and the soft bread with two arms, put in the oval breadbasket.",
+    "Take the rectangular bread soft inside and the bread loaf with bumpy surface to the light brown breadbasket",
+    "Take the golden crusted bread slice and the bread with rough texture then place in the basket with light brown weaving.",
+    "Pick the golden brown loaf-shaped bread and the bread with rough texture, place them in the breadbasket with curved base.",
+    "Pick the soft golden baked bread and the golden bread loaf and set them in the smooth-textured breadbasket.",
+    "Use two arms and set the golden brown loaf-shaped bread, the bread loaf with bumpy surface in the oval basket for bread.",
+    "Move the golden brown loaf-shaped bread and the cuboid bread at once into the light brown breadbasket.",
+    "Simultaneously grab the soft golden baked bread and the cuboid bread using the right arm, then drop them in the breadbasket for small food items.",
+    "Shift the golden bread and the square-shaped bread together to the medium oval breadbasket.",
+    "Grab both the slice-shaped bread and the light golden brown bread with the right arm and place in the breadbasket with curved base.",
+    "Simultaneously use the right arm to drop the slice-shaped bread and the bread loaf with uneven edges in the oval breadbasket.",
+    "Place the golden brown loaf-shaped bread and the bread loaf with bumpy surface in the smooth-textured breadbasket using the right arm",
+    "Grab two breads the bread loaf with square shape and the soft bread and place in the breadbasket with curved base.",
+    "Lift the golden bread and the bread with rough texture at once with the right arm, then set them in the two-hand-sized breadbasket.",
+    "Simultaneously grab the slice-shaped bread and the bread block with light patches, drop in the medium oval breadbasket.",
+    "Pick the brown bread loaf and the golden bread for the the breadbasket for small food items",
+    "Move the brown bread loaf and the doughy and soft bread to the breadbasket for small food items",
+    "Pick up both the golden bread and the golden bread, then place them in the oval breadbasket.",
+    "Use the right arm to place the bread with golden surface color and the square-shaped bread into the woven plastic breadbasket.",
+    "Grab both the brown bread loaf and the golden bread, drop into the breadbasket for small food items.",
+    "Take the bread loaf with square shape and the golden bread loaf together and place them into the two-hand-sized breadbasket.",
+    "Put the soft golden baked bread and the hand-sized bread block into the light brown breadbasket using two arms.",
+    "Shift the brown bread loaf and the doughy and soft bread into the light brown breadbasket",
+    "Take the slice-shaped bread and the doughy and soft bread, place them inside the synthetic material breadbasket."
+  ],
+  "unseen": [
+    "Use one arm to grab the soft rectangular bread loaf and the bread with golden crust, drop in the beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and the bread with golden crust and place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the soft rectangular bread loaf and the bread loaf with soft surface and place in the beige breadbasket.",
+    "Place the soft rectangular bread loaf and the bread loaf with soft surface into the beige breadbasket using the right arm",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the bread loaf with soft surface, then place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and the bread with golden crust and place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the small loaf-shaped bread and the rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Place the small loaf-shaped bread and the rectangular bread loaf into the breadbasket with ridged texture using the right arm",
+    "Grab the bread loaf medium-sized and the bread with golden crust with two arms, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the bread with golden crust, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the bread loaf medium-sized and the bread loaf with soft surface, then place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and drop them into the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the bread with golden crust and place in the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf and the rectangular bread loaf into the medium-sized breadbasket using the right arm",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface with two arms, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the bread loaf with soft surface, then place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and drop it into the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and the bread loaf with soft surface and place them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the bread with golden crust and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Place the soft rectangular bread loaf and the rectangular bread loaf into the medium-sized breadbasket using the right arm",
+    "Grab the soft rectangular bread loaf and the bread loaf with soft surface with two arms, place in the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the rectangular bread loaf, drop in the beige breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the bread loaf with soft surface, then place them in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf with soft surface and drop it into the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and the bread loaf with soft surface and place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and put them in the beige breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the bread with golden crust and place in the breadbasket with ridged texture.",
+    "Place the bread loaf medium-sized and the bread loaf with soft surface into the beige breadbasket using the right arm",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the rectangular bread loaf, drop in the beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the bread loaf with soft surface and drop it into the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and drop them into the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and the bread with golden crust and place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the bread loaf with soft surface into the beige breadbasket using the right arm",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and drop them into the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the bread with golden crust and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the rectangular bread loaf into the breadbasket with ridged texture using the right arm",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the bread with golden crust, drop in the beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the bread with golden crust, then place them in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and drop it into the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Pick the soft rectangular bread loaf and the rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the bread loaf medium-sized and the bread with golden crust and place in the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf and the rectangular bread loaf into the breadbasket with ridged texture using the right arm",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and drop it into the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and drop them into the medium-sized breadbasket.",
+    "Pick the bread loaf medium-sized and the rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and put them in the beige breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the bread loaf with soft surface and place in the beige breadbasket.",
+    "Place the small loaf-shaped bread and the bread with golden crust into the medium-sized breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface with two arms, place in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the bread loaf with soft surface, then place them in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and drop them into the medium-sized breadbasket.",
+    "Pick the small loaf-shaped bread and the bread loaf with soft surface and place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and put them in the beige breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the bread loaf with soft surface and place in the medium-sized breadbasket.",
+    "Place the soft rectangular bread loaf and the bread loaf with soft surface into the breadbasket with ridged texture using the right arm",
+    "Grab the soft rectangular bread loaf and the bread with golden crust with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the bread with golden crust, then place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and drop them into the medium-sized breadbasket.",
+    "Pick the bread loaf medium-sized and the bread with golden crust and place them in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the small loaf-shaped bread and the rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf and the rectangular bread loaf into the medium-sized breadbasket using the right arm",
+    "Grab the soft rectangular bread loaf and the bread loaf with soft surface with two arms, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread with golden crust, drop in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode35.json b/place_bread_basket/demo_clean/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..04e80136d5b89ed6b13923ffcc11422fc8d8bd1a
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bread with golden crust and the hand-sized oval loaf, place them inside the medium-sized rectangular breadbasket.",
+    "Lift the soft doughy bread and the bread with golden-brown crust at once with the right arm, then set them in the medium woven breadbasket.",
+    "Place the round bread with crusty texture and the golden bread loaf in the breadbasket with wicker weave pattern using the right arm",
+    "Move the small golden baked bread and the small loaf with curved top at once into the smooth textured brown breadbasket.",
+    "Pick the small bread and the bread with warm golden color, place them in the breadbasket for holding bread.",
+    "Grab two breads the round bread with crusty texture and the small loaf with curved top and place in the breadbasket with rounded edges.",
+    "Shift the braided bread loaf and the golden bread loaf into the breadbasket with wicker weave pattern",
+    "Grab the golden bread loaf with soft inside and the light brown loaf with smooth sides quickly and drop them into the woven rectangular breadbasket.",
+    "Take the small golden baked bread and the small golden brown bread then place in the breadbasket with wicker weave pattern.",
+    "Grab both the soft doughy bread and the bread with golden-brown crust, drop into the breadbasket with smooth woven texture.",
+    "Pick the small bread and the small loaf with curved top for the the light brown basket for bread",
+    "Pick the golden bread loaf with soft inside and the bread with warm golden color and set them in the brown breadbasket with rounded corners.",
+    "Simultaneously grab the smooth crusty small bread and the small golden brown bread, drop in the medium-sized rectangular breadbasket.",
+    "Take the small golden baked bread and the small golden brown bread to the medium woven breadbasket",
+    "Simultaneously grab the small golden baked bread and the bread with golden-brown crust using the right arm, then drop them in the brown breadbasket with rounded corners.",
+    "Use two arms and set the small bread, the hand-sized oval loaf in the breadbasket for holding bread.",
+    "Move the small golden baked bread and the brown loaf to the breadbasket for holding bread",
+    "Grab both the small bread and the bread with split top with the right arm and place in the brown breadbasket.",
+    "Shift the golden brown bread with braided design and the light brown bread with ridges together to the brown breadbasket.",
+    "Put the braided bread loaf and the bread with golden-brown crust into the light brown wicker breadbasket using two arms.",
+    "Pick up both the golden brown bread with braided design and the brown loaf, then place them in the breadbasket with rounded edges.",
+    "Take the braided bread loaf and the light brown bread with ridges together and place them into the breadbasket with smooth woven texture.",
+    "Simultaneously use the right arm to drop the soft golden bread and the bread with split top in the medium woven breadbasket.",
+    "Use the right arm to place the round bread with crusty texture and the light brown bread with ridges into the brown breadbasket.",
+    "Lift the golden brown bread and the smooth loaf with rounded edges with two arms, put in the light brown wicker breadbasket.",
+    "Use both arms to move the soft golden bread, the smooth loaf with rounded edges to the medium woven breadbasket.",
+    "Take the soft golden bread and the smooth loaf with rounded edges, place them inside the breadbasket with rounded edges.",
+    "Lift the braided bread loaf and the bread with split top at once with the right arm, then set them in the medium-sized rectangular breadbasket.",
+    "Place the bread with golden crust and the small golden brown bread in the brown breadbasket with rounded corners using the right arm",
+    "Move the golden brown bread with braided design and the golden bread loaf at once into the brown breadbasket.",
+    "Pick the golden brown bread with braided design and the soft brown bread, place them in the breadbasket with wicker weave pattern.",
+    "Grab two breads the golden brown bread with braided design and the hand-sized oval loaf and place in the woven rectangular breadbasket.",
+    "Shift the round bread with braided top and the small loaf with curved top into the medium-sized rectangular breadbasket",
+    "Grab the small golden baked bread and the light brown bread with ridges quickly and drop them into the light brown wicker breadbasket.",
+    "Take the soft doughy bread and the small golden brown bread then place in the smooth textured brown breadbasket.",
+    "Grab both the small golden baked bread and the brown loaf, drop into the medium woven breadbasket.",
+    "Pick the round bread with braided top and the golden bread loaf for the the brown breadbasket with rounded corners",
+    "Pick the bread with golden crust and the light brown loaf with smooth sides and set them in the smooth textured brown breadbasket.",
+    "Simultaneously grab the golden brown bread with braided design and the soft brown bread, drop in the woven rectangular breadbasket.",
+    "Take the smooth crusty small bread and the golden bread loaf to the breadbasket with rounded edges",
+    "Simultaneously grab the soft doughy bread and the bread with split top using the right arm, then drop them in the smooth textured brown breadbasket.",
+    "Use two arms and set the small golden baked bread, the small loaf with curved top in the smooth textured brown breadbasket.",
+    "Move the bread with golden crust and the golden bread loaf to the woven rectangular breadbasket",
+    "Grab both the small bread and the small loaf with curved top with the right arm and place in the woven rectangular breadbasket.",
+    "Shift the golden brown bread and the bread with split top together to the brown breadbasket with rounded corners.",
+    "Put the small bread and the smooth loaf with rounded edges into the breadbasket for holding bread using two arms.",
+    "Pick up both the braided bread loaf and the smooth loaf with rounded edges, then place them in the breadbasket for holding bread.",
+    "Take the round bread with crusty texture and the bread with split top together and place them into the medium-sized rectangular breadbasket.",
+    "Simultaneously use the right arm to drop the round bread with braided top and the hand-sized oval loaf in the breadbasket with wicker weave pattern.",
+    "Use the right arm to place the small bread and the bread with golden-brown crust into the medium woven breadbasket.",
+    "Lift the golden brown bread and the soft brown bread with two arms, put in the breadbasket with rounded edges.",
+    "Use both arms to move the round bread with crusty texture, the bread with warm golden color to the medium-sized rectangular breadbasket.",
+    "Take the small bread and the light brown loaf with smooth sides, place them inside the breadbasket with wicker weave pattern.",
+    "Lift the small bread and the light brown loaf with smooth sides at once with the right arm, then set them in the light brown basket for bread.",
+    "Place the golden brown bread and the soft brown bread in the breadbasket with rounded edges using the right arm",
+    "Move the braided bread loaf and the bread with warm golden color at once into the light brown wicker breadbasket.",
+    "Pick the bread with golden crust and the brown loaf, place them in the light brown basket for bread.",
+    "Grab two breads the small golden baked bread and the golden bread loaf and place in the smooth textured brown breadbasket.",
+    "Shift the round bread with braided top and the brown loaf into the smooth textured brown breadbasket",
+    "Grab the smooth crusty small bread and the bread with warm golden color quickly and drop them into the breadbasket with rounded edges.",
+    "Take the round bread with crusty texture and the smooth loaf with rounded edges then place in the brown breadbasket with rounded corners.",
+    "Grab both the round bread with crusty texture and the bread with warm golden color, drop into the breadbasket with smooth woven texture.",
+    "Pick the small bread and the small golden brown bread for the the light brown wicker breadbasket",
+    "Pick the small bread and the bread with golden-brown crust and set them in the breadbasket with rounded edges.",
+    "Simultaneously grab the braided bread loaf and the bread with golden-brown crust, drop in the light brown wicker breadbasket.",
+    "Take the soft golden bread and the light brown bread with ridges to the medium-sized rectangular breadbasket",
+    "Simultaneously grab the soft golden bread and the golden bread loaf using the right arm, then drop them in the breadbasket with wicker weave pattern.",
+    "Use two arms and set the smooth crusty small bread, the golden bread loaf in the medium-sized rectangular breadbasket.",
+    "Move the soft golden bread and the golden bread loaf to the breadbasket with rounded edges",
+    "Grab both the small bread and the golden bread loaf with the right arm and place in the medium woven breadbasket.",
+    "Shift the bread with golden crust and the hand-sized oval loaf together to the breadbasket with smooth woven texture.",
+    "Put the soft golden bread and the golden bread loaf into the breadbasket with wicker weave pattern using two arms.",
+    "Pick up both the soft doughy bread and the smooth loaf with rounded edges, then place them in the breadbasket for holding bread.",
+    "Take the golden brown bread with braided design and the hand-sized oval loaf together and place them into the medium-sized rectangular breadbasket.",
+    "Simultaneously use the right arm to drop the golden brown bread and the light brown bread with ridges in the breadbasket with rounded edges.",
+    "Use the right arm to place the golden brown bread with braided design and the golden bread loaf into the brown breadbasket with rounded corners.",
+    "Lift the soft golden bread and the small golden brown bread with two arms, put in the breadbasket with wicker weave pattern.",
+    "Use both arms to move the golden bread loaf with soft inside, the brown loaf to the breadbasket with wicker weave pattern.",
+    "Take the golden brown bread and the hand-sized oval loaf, place them inside the breadbasket with smooth woven texture.",
+    "Lift the smooth crusty small bread and the bread with warm golden color at once with the right arm, then set them in the breadbasket with wicker weave pattern.",
+    "Place the small bread and the bread with warm golden color in the smooth textured brown breadbasket using the right arm",
+    "Move the bread with golden crust and the bread with warm golden color at once into the light brown basket for bread.",
+    "Pick the bread with golden crust and the bread with golden-brown crust, place them in the breadbasket with smooth woven texture.",
+    "Grab two breads the bread with golden crust and the light brown bread with ridges and place in the smooth textured brown breadbasket.",
+    "Shift the round bread with crusty texture and the light brown bread with ridges into the light brown basket for bread",
+    "Grab the round bread with crusty texture and the light brown loaf with smooth sides quickly and drop them into the woven rectangular breadbasket.",
+    "Take the small bread and the light brown bread with ridges then place in the breadbasket with smooth woven texture.",
+    "Grab both the bread with golden crust and the golden bread loaf, drop into the woven rectangular breadbasket.",
+    "Pick the small bread and the golden bread loaf for the the medium-sized rectangular breadbasket",
+    "Pick the bread with golden crust and the bread with split top and set them in the smooth textured brown breadbasket.",
+    "Simultaneously grab the bread with golden crust and the bread with golden-brown crust, drop in the light brown basket for bread.",
+    "Take the golden brown bread with braided design and the light brown bread with ridges to the smooth textured brown breadbasket",
+    "Simultaneously grab the golden bread loaf with soft inside and the bread with golden-brown crust using the right arm, then drop them in the medium-sized rectangular breadbasket.",
+    "Use two arms and set the braided bread loaf, the golden bread loaf in the breadbasket with wicker weave pattern.",
+    "Move the small bread and the small golden brown bread to the breadbasket with rounded edges",
+    "Grab both the soft doughy bread and the bread with split top with the right arm and place in the breadbasket for holding bread.",
+    "Shift the round bread with braided top and the small loaf with curved top together to the brown breadbasket.",
+    "Put the golden brown bread with braided design and the soft brown bread into the light brown wicker breadbasket using two arms.",
+    "Pick up both the round bread with braided top and the golden bread loaf, then place them in the brown breadbasket with rounded corners.",
+    "Take the golden bread loaf with soft inside and the small loaf with curved top together and place them into the breadbasket with smooth woven texture."
+  ],
+  "unseen": [
+    "Pick the braided top round bread and the rounded oval bread and place them in the rectangular light brown breadbasket.",
+    "Place the braided top round bread and the oval bread into the rectangular breadbasket using the right arm",
+    "Use the right arm to pick up the round braided loaf and the oval bread, then place them in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the rounded oval bread, drop in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the rectangular light brown breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and the oval bread and place in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the medium light brown breadbasket.",
+    "Pick the palm-sized braided golden bread and the rounded oval bread and place them in the rectangular breadbasket.",
+    "Place the round braided loaf and the rounded oval bread into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the round braided loaf and the oval-shaped soft bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop it into the medium light brown breadbasket.",
+    "Use the right arm to pick the braided top round bread and the oval bread and place in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and put them in the rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the oval bread and place them in the rectangular breadbasket.",
+    "Place the braided top round bread and the oval-shaped soft bread into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the round braided loaf and the oval bread, then place them in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and drop them into the rectangular breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the rectangular breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and drop it into the medium light brown breadbasket.",
+    "Use the right arm to pick the braided top round bread and the rounded oval bread and place in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and put them in the rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the oval bread and place them in the medium light brown breadbasket.",
+    "Place the braided top round bread and the oval-shaped soft bread into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the round braided loaf and the oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop them into the rectangular breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the oval-shaped soft bread, drop in the rectangular breadbasket.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and drop it into the medium light brown breadbasket.",
+    "Use the right arm to pick the round braided loaf and the oval-shaped soft bread and place in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and put them in the medium light brown breadbasket.",
+    "Pick the braided top round bread and the rounded oval bread and place them in the medium light brown breadbasket.",
+    "Place the round braided loaf and the oval bread into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the palm-sized braided golden bread and the rounded oval bread, then place them in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop it into the rectangular breadbasket.",
+    "Use the right arm to pick the round braided loaf and the rounded oval bread and place in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and put them in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and the rounded oval bread and place them in the rectangular breadbasket.",
+    "Place the braided top round bread and the oval-shaped soft bread into the rectangular breadbasket using the right arm",
+    "Use the right arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the rectangular breadbasket.",
+    "Use one arm to grab the round braided loaf and the rounded oval bread, drop in the rectangular breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop it into the medium light brown breadbasket.",
+    "Use the right arm to pick the round braided loaf and the oval-shaped soft bread and place in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the rectangular breadbasket.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the rectangular light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the oval bread into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the braided top round bread and the rounded oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and drop it into the medium light brown breadbasket.",
+    "Use the right arm to pick the round braided loaf and the rounded oval bread and place in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and put them in the medium light brown breadbasket.",
+    "Pick the braided top round bread and the oval bread and place them in the rectangular light brown breadbasket.",
+    "Place the round braided loaf and the rounded oval bread into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the palm-sized braided golden bread and the rounded oval bread, then place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the oval bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and drop it into the rectangular light brown breadbasket.",
+    "Use the right arm to pick the round braided loaf and the oval-shaped soft bread and place in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and put them in the rectangular light brown breadbasket.",
+    "Pick the braided top round bread and the oval-shaped soft bread and place them in the rectangular breadbasket.",
+    "Place the round braided loaf and the oval bread into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the round braided loaf and the rounded oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the oval-shaped soft bread, drop in the rectangular breadbasket.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and drop it into the rectangular breadbasket.",
+    "Use the right arm to pick the braided top round bread and the rounded oval bread and place in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and put them in the rectangular light brown breadbasket.",
+    "Pick the braided top round bread and the oval-shaped soft bread and place them in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the oval-shaped soft bread into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the palm-sized braided golden bread and the rounded oval bread, then place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the oval bread and drop it into the medium light brown breadbasket.",
+    "Use the right arm to pick the round braided loaf and the oval-shaped soft bread and place in the rectangular breadbasket.",
+    "Grab the round braided loaf and the oval bread and put them in the rectangular breadbasket.",
+    "Pick the braided top round bread and the rounded oval bread and place them in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the oval bread into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the palm-sized braided golden bread and the oval bread, then place them in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop it into the medium light brown breadbasket.",
+    "Use the right arm to pick the braided top round bread and the oval bread and place in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and put them in the rectangular light brown breadbasket.",
+    "Pick the braided top round bread and the oval bread and place them in the medium light brown breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode36.json b/place_bread_basket/demo_clean/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..35f3fc5fedeacd9efa828b605fa3629e64f215e3
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simultaneously use the dual arm to drop the smooth crusty small bread and the bread loaf with square shape in the basket for bread beige plastic.",
+    "Pick the bread with golden crust and the golden bread for the the beige basket with white grid design",
+    "Grab both the soft golden bread and the golden bread, drop into the basket for bread beige plastic.",
+    "Grab the small bread and the soft golden baked bread quickly and drop them into the beige breadbasket.",
+    "Take the golden brown bread and the golden brown loaf-shaped bread then place in the beige basket with white grid design.",
+    "Shift the soft doughy bread and the rectangular bread soft inside together to the beige basket with white grid design.",
+    "Take the golden bread loaf with soft inside and the bread loaf with square shape, place them inside the basket for carrying bread beige.",
+    "Use the dual arm to place the small golden baked bread and the bread with rounded corners into the beige breadbasket.",
+    "Pick the smooth crusty small bread and the bread with golden surface color, place them in the basket for bread beige plastic.",
+    "Use two arms and set the soft golden bread, the bread loaf with square shape in the medium oval basket for bread.",
+    "Put the round bread with braided top and the bread loaf with square shape into the medium plastic breadbasket oval shape using two arms.",
+    "Grab both the braided bread loaf and the slice-shaped bread with the dual arm and place in the white oval breadbasket.",
+    "Lift the small bread and the golden bread with two arms, put in the white oval breadbasket.",
+    "Take the golden brown bread and the soft golden baked bread together and place them into the oval-shaped breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the golden bread, drop in the basket for carrying bread beige.",
+    "Use both arms to move the small golden baked bread, the bread with firm crust edges to the white oval breadbasket.",
+    "Lift the golden bread loaf with soft inside and the bread loaf with square shape at once with the dual arm, then set them in the oval perforated breadbasket white edges.",
+    "Simultaneously grab the braided bread loaf and the soft golden baked bread using the dual arm, then drop them in the medium breadbasket with perforated sides.",
+    "Take the bread with golden crust and the bread with firm crust edges to the oval perforated breadbasket white edges",
+    "Pick the round bread with braided top and the soft golden baked bread and set them in the beige breadbasket.",
+    "Move the braided bread loaf and the golden brown loaf-shaped bread at once into the medium plastic breadbasket oval shape.",
+    "Pick up both the soft golden bread and the square loaf of bread, then place them in the medium plastic breadbasket oval shape.",
+    "Move the golden brown bread with braided design and the bread loaf with square shape to the beige basket with white grid design",
+    "Shift the round bread with crusty texture and the bread with rounded corners into the medium oval basket for bread",
+    "Grab two breads the braided bread loaf and the bread with rounded corners and place in the oval-shaped breadbasket.",
+    "Place the smooth crusty small bread and the bread with rounded corners in the beige plastic breadbasket using the dual arm",
+    "Simultaneously use the dual arm to drop the soft doughy bread and the slice-shaped bread in the oval-shaped breadbasket.",
+    "Pick the braided bread loaf and the rectangular bread soft inside for the the beige breadbasket",
+    "Grab both the braided bread loaf and the bread with golden surface color, drop into the beige breadbasket.",
+    "Grab the soft doughy bread and the bread with firm crust edges quickly and drop them into the beige breadbasket.",
+    "Take the braided bread loaf and the rectangular bread soft inside then place in the beige breadbasket.",
+    "Shift the round bread with crusty texture and the square loaf of bread together to the oval perforated breadbasket white edges.",
+    "Take the golden bread loaf with soft inside and the golden brown loaf-shaped bread, place them inside the beige basket with white grid design.",
+    "Use the dual arm to place the golden bread loaf with soft inside and the golden bread into the basket for bread beige plastic.",
+    "Pick the braided bread loaf and the square loaf of bread, place them in the beige breadbasket.",
+    "Use two arms and set the small golden baked bread, the golden bread in the white oval breadbasket.",
+    "Put the golden brown bread with braided design and the square loaf of bread into the basket for bread beige plastic using two arms.",
+    "Grab both the golden brown bread and the golden crusted bread slice with the dual arm and place in the oval-shaped breadbasket.",
+    "Lift the golden brown bread with braided design and the bread with firm crust edges with two arms, put in the smooth textured breadbasket.",
+    "Take the small bread and the brown bread loaf together and place them into the beige breadbasket.",
+    "Simultaneously grab the bread with golden crust and the golden crusted bread slice, drop in the smooth textured breadbasket.",
+    "Use both arms to move the small golden baked bread, the bread with rounded corners to the medium breadbasket with perforated sides.",
+    "Lift the soft golden bread and the golden brown loaf-shaped bread at once with the dual arm, then set them in the beige plastic breadbasket.",
+    "Simultaneously grab the golden bread loaf with soft inside and the golden brown loaf-shaped bread using the dual arm, then drop them in the oval perforated breadbasket white edges.",
+    "Take the smooth crusty small bread and the bread loaf with square shape to the beige plastic breadbasket",
+    "Pick the small golden baked bread and the bread with rounded corners and set them in the beige plastic breadbasket.",
+    "Move the golden bread loaf with soft inside and the bread with firm crust edges at once into the medium breadbasket with perforated sides.",
+    "Pick up both the round bread with braided top and the golden crusted bread slice, then place them in the beige breadbasket.",
+    "Move the round bread with crusty texture and the bread loaf with square shape to the medium oval basket for bread",
+    "Shift the soft doughy bread and the bread loaf with square shape into the basket for carrying bread beige",
+    "Grab two breads the golden brown bread and the brown bread loaf and place in the smooth textured breadbasket.",
+    "Place the small golden baked bread and the golden brown loaf-shaped bread in the basket for bread beige plastic using the dual arm",
+    "Simultaneously use the dual arm to drop the smooth crusty small bread and the bread with rounded corners in the medium breadbasket with perforated sides.",
+    "Pick the soft doughy bread and the golden crusted bread slice for the the beige basket with white grid design",
+    "Grab both the soft golden bread and the bread with golden surface color, drop into the oval-shaped breadbasket.",
+    "Grab the round bread with braided top and the slice-shaped bread quickly and drop them into the beige breadbasket.",
+    "Take the small bread and the bread loaf with square shape then place in the basket for bread beige plastic.",
+    "Shift the golden brown bread with braided design and the bread loaf with square shape together to the medium plastic breadbasket oval shape.",
+    "Take the soft golden bread and the golden crusted bread slice, place them inside the oval perforated breadbasket white edges.",
+    "Use the dual arm to place the round bread with crusty texture and the rectangular bread soft inside into the white oval breadbasket.",
+    "Pick the soft doughy bread and the slice-shaped bread, place them in the medium oval basket for bread.",
+    "Use two arms and set the golden bread loaf with soft inside, the golden crusted bread slice in the oval perforated breadbasket white edges.",
+    "Put the golden bread loaf with soft inside and the bread with golden surface color into the basket for carrying bread beige using two arms.",
+    "Grab both the smooth crusty small bread and the golden brown loaf-shaped bread with the dual arm and place in the beige basket with white grid design.",
+    "Lift the round bread with crusty texture and the golden crusted bread slice with two arms, put in the oval-shaped breadbasket.",
+    "Take the smooth crusty small bread and the bread loaf with square shape together and place them into the oval-shaped breadbasket.",
+    "Simultaneously grab the golden brown bread with braided design and the golden brown loaf-shaped bread, drop in the white oval breadbasket.",
+    "Use both arms to move the bread with golden crust, the square loaf of bread to the beige basket with white grid design.",
+    "Lift the golden brown bread with braided design and the bread loaf with square shape at once with the dual arm, then set them in the white oval breadbasket.",
+    "Simultaneously grab the small golden baked bread and the golden crusted bread slice using the dual arm, then drop them in the medium oval basket for bread.",
+    "Take the round bread with crusty texture and the bread with rounded corners to the basket for bread beige plastic",
+    "Pick the braided bread loaf and the rectangular bread soft inside and set them in the basket for bread beige plastic.",
+    "Move the round bread with braided top and the bread with rounded corners at once into the medium plastic breadbasket oval shape.",
+    "Pick up both the bread with golden crust and the square loaf of bread, then place them in the medium oval basket for bread.",
+    "Move the golden bread loaf with soft inside and the golden bread to the medium plastic breadbasket oval shape",
+    "Shift the golden bread loaf with soft inside and the bread with rounded corners into the beige basket with white grid design",
+    "Grab two breads the golden brown bread with braided design and the soft golden baked bread and place in the medium plastic breadbasket oval shape.",
+    "Place the soft doughy bread and the bread loaf with square shape in the oval-shaped breadbasket using the dual arm",
+    "Simultaneously use the dual arm to drop the golden brown bread with braided design and the brown bread loaf in the basket for bread beige plastic.",
+    "Pick the small golden baked bread and the golden crusted bread slice for the the basket for bread beige plastic",
+    "Grab both the golden brown bread and the brown bread loaf, drop into the smooth textured breadbasket.",
+    "Grab the round bread with crusty texture and the golden brown loaf-shaped bread quickly and drop them into the medium oval basket for bread.",
+    "Take the small bread and the bread with firm crust edges then place in the beige plastic breadbasket.",
+    "Shift the small bread and the square loaf of bread together to the beige basket with white grid design.",
+    "Take the soft doughy bread and the brown bread loaf, place them inside the white oval breadbasket.",
+    "Use the dual arm to place the small bread and the slice-shaped bread into the smooth textured breadbasket.",
+    "Pick the braided bread loaf and the golden brown loaf-shaped bread, place them in the basket for carrying bread beige.",
+    "Use two arms and set the golden brown bread, the golden brown loaf-shaped bread in the medium breadbasket with perforated sides.",
+    "Put the round bread with crusty texture and the slice-shaped bread into the smooth textured breadbasket using two arms.",
+    "Grab both the golden bread loaf with soft inside and the bread with golden surface color with the dual arm and place in the white oval breadbasket.",
+    "Lift the golden brown bread with braided design and the brown bread loaf with two arms, put in the beige breadbasket.",
+    "Take the braided bread loaf and the golden brown loaf-shaped bread together and place them into the basket for bread beige plastic.",
+    "Simultaneously grab the golden brown bread and the square loaf of bread, drop in the medium breadbasket with perforated sides.",
+    "Use both arms to move the small golden baked bread, the rectangular bread soft inside to the medium oval basket for bread.",
+    "Lift the soft golden bread and the golden bread at once with the dual arm, then set them in the oval perforated breadbasket white edges.",
+    "Simultaneously grab the braided bread loaf and the golden bread using the dual arm, then drop them in the smooth textured breadbasket.",
+    "Take the round bread with braided top and the bread loaf with square shape to the basket for bread beige plastic",
+    "Pick the soft doughy bread and the golden brown loaf-shaped bread and set them in the medium plastic breadbasket oval shape.",
+    "Move the golden brown bread and the bread with golden surface color at once into the basket for bread beige plastic.",
+    "Pick up both the golden brown bread and the rectangular bread soft inside, then place them in the oval-shaped breadbasket."
+  ],
+  "unseen": [
+    "Grab the braided top round bread and the bread loaf medium-sized with two arms, place in the white basket with beige bottom.",
+    "Use one arm to grab the round braided loaf and the bread loaf medium-sized, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the small loaf-shaped bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the bread loaf medium-sized and drop them into the white basket with beige bottom.",
+    "Pick the palm-sized braided golden bread and the small loaf-shaped bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the small loaf-shaped bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the small loaf-shaped bread and put them in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the small loaf-shaped bread into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick up the braided top round bread and the small loaf-shaped bread, then place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread with two arms, place in the white basket with beige bottom.",
+    "Use one arm to grab the braided top round bread and the soft rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the round braided loaf and the bread loaf medium-sized and place in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the small loaf-shaped bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Pick the braided top round bread and the small loaf-shaped bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the bread loaf medium-sized and drop it into the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and put them in the breadbasket with hollowed white walls.",
+    "Place the braided top round bread and the bread loaf medium-sized into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick up the braided top round bread and the bread loaf medium-sized, then place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the braided top round bread and the bread loaf medium-sized, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the braided top round bread and the bread loaf medium-sized and place in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the bread loaf medium-sized and drop them into the breadbasket with smooth bottom grid sides.",
+    "Pick the palm-sized braided golden bread and the bread loaf medium-sized and place them in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Grab the braided top round bread and the small loaf-shaped bread and put them in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the soft rectangular bread loaf into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the bread loaf medium-sized, then place them in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the braided top round bread and the soft rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the braided top round bread and the small loaf-shaped bread and place in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and drop them into the white basket with beige bottom.",
+    "Pick the round braided loaf and the small loaf-shaped bread and place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized and drop it into the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the bread loaf medium-sized and put them in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the small loaf-shaped bread into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick up the braided top round bread and the soft rectangular bread loaf, then place them in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the round braided loaf and the bread loaf medium-sized, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the round braided loaf and the small loaf-shaped bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and drop them into the breadbasket with smooth bottom grid sides.",
+    "Pick the braided top round bread and the small loaf-shaped bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the bread loaf medium-sized and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the small loaf-shaped bread and put them in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the bread loaf medium-sized into the white basket with beige bottom using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the small loaf-shaped bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the small loaf-shaped bread with two arms, place in the white basket with beige bottom.",
+    "Use one arm to grab the braided top round bread and the small loaf-shaped bread, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the bread loaf medium-sized and place in the white basket with beige bottom.",
+    "Grab the round braided loaf and the bread loaf medium-sized and drop them into the breadbasket with hollowed white walls.",
+    "Pick the braided top round bread and the small loaf-shaped bread and place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the bread loaf medium-sized and put them in the breadbasket with smooth bottom grid sides.",
+    "Place the palm-sized braided golden bread and the small loaf-shaped bread into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick up the braided top round bread and the bread loaf medium-sized, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the soft rectangular bread loaf with two arms, place in the white basket with beige bottom.",
+    "Use one arm to grab the round braided loaf and the soft rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the round braided loaf and the small loaf-shaped bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized and drop them into the white basket with beige bottom.",
+    "Pick the braided top round bread and the bread loaf medium-sized and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and drop it into the white basket with beige bottom.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and put them in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the small loaf-shaped bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the small loaf-shaped bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the palm-sized braided golden bread and the soft rectangular bread loaf, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the round braided loaf and the bread loaf medium-sized and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and drop them into the breadbasket with smooth bottom grid sides.",
+    "Pick the braided top round bread and the soft rectangular bread loaf and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized and drop it into the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and put them in the white basket with beige bottom.",
+    "Place the round braided loaf and the small loaf-shaped bread into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick up the braided top round bread and the soft rectangular bread loaf, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the soft rectangular bread loaf with two arms, place in the white basket with beige bottom.",
+    "Use one arm to grab the braided top round bread and the small loaf-shaped bread, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the bread loaf medium-sized and place in the white basket with beige bottom.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and drop them into the breadbasket with hollowed white walls.",
+    "Pick the palm-sized braided golden bread and the small loaf-shaped bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and put them in the white basket with beige bottom.",
+    "Place the braided top round bread and the small loaf-shaped bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the small loaf-shaped bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the bread loaf medium-sized with two arms, place in the white basket with beige bottom.",
+    "Use one arm to grab the braided top round bread and the soft rectangular bread loaf, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the round braided loaf and the small loaf-shaped bread and place in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the bread loaf medium-sized and drop them into the breadbasket with smooth bottom grid sides.",
+    "Pick the braided top round bread and the bread loaf medium-sized and place them in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop it into the white basket with beige bottom.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and put them in the white basket with beige bottom.",
+    "Place the round braided loaf and the soft rectangular bread loaf into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick up the braided top round bread and the small loaf-shaped bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the small loaf-shaped bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the palm-sized braided golden bread and the small loaf-shaped bread, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the braided top round bread and the small loaf-shaped bread and place in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized and drop them into the breadbasket with smooth bottom grid sides.",
+    "Pick the palm-sized braided golden bread and the small loaf-shaped bread and place them in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the bread loaf medium-sized and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and put them in the white basket with beige bottom.",
+    "Place the braided top round bread and the small loaf-shaped bread into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the small loaf-shaped bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the soft rectangular bread loaf with two arms, place in the white basket with beige bottom."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode37.json b/place_bread_basket/demo_clean/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..c817d759c4b1ff6a9f3ce2fc31b41d6c4c2f900b
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the light golden brown bread and the bread with rounded edges to the breadbasket with wicker weave pattern",
+    "Grab the bread loaf with uneven edges and the fluffy baked bread quickly and drop them into the breadbasket for holding bread.",
+    "Grab two breads the golden bread loaf and the sponge-textured golden bread and place in the medium woven breadbasket.",
+    "Simultaneously grab the golden bread and the rounded square loaf, drop in the brown breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with rough texture and the medium bread with rounded sides in the woven rectangular breadbasket.",
+    "Move the bread loaf with uneven edges and the medium bread with rounded sides at once into the brown breadbasket.",
+    "Pick the hand-sized bread block and the golden baked bread, place them in the breadbasket with smooth woven texture.",
+    "Place the square-shaped bread and the light brown porous bread in the brown breadbasket with rounded corners using the dual arm",
+    "Pick the hand-sized bread block and the medium bread with rounded sides and set them in the breadbasket with rounded edges.",
+    "Take the golden bread and the medium bread with rounded sides, place them inside the woven rectangular breadbasket.",
+    "Pick the bread loaf with bumpy surface and the bread with soft texture for the the brown breadbasket with rounded corners",
+    "Simultaneously grab the soft bread and the light brown porous bread using the dual arm, then drop them in the breadbasket with rounded edges.",
+    "Use two arms and set the bread with rough texture, the soft square bread in the light brown wicker breadbasket.",
+    "Pick up both the bread block with light patches and the bread with rounded edges, then place them in the light brown wicker breadbasket.",
+    "Take the bread with rough texture and the medium bread with rounded sides to the medium-sized rectangular breadbasket",
+    "Use both arms to move the hand-sized bread block, the fluffy baked bread to the breadbasket with smooth woven texture.",
+    "Put the light golden brown bread and the bread with soft texture into the medium-sized rectangular breadbasket using two arms.",
+    "Shift the bread with rough texture and the bread with rounded edges together to the medium woven breadbasket.",
+    "Take the soft bread and the bread with rounded edges then place in the woven rectangular breadbasket.",
+    "Shift the golden bread and the square-shaped bread piece into the medium woven breadbasket",
+    "Grab both the soft bread and the square-shaped bread piece, drop into the breadbasket with rounded edges.",
+    "Grab both the soft bread and the medium bread with rounded sides with the dual arm and place in the brown breadbasket.",
+    "Use the dual arm to place the light golden brown bread and the golden baked bread into the breadbasket with rounded edges.",
+    "Take the golden bread loaf and the bread with rounded edges together and place them into the medium-sized rectangular breadbasket.",
+    "Lift the cuboid bread and the soft square bread with two arms, put in the smooth textured brown breadbasket.",
+    "Lift the doughy and soft bread and the square-shaped bread piece at once with the dual arm, then set them in the medium woven breadbasket.",
+    "Move the bread loaf with uneven edges and the medium-sized bread piece to the breadbasket with rounded edges",
+    "Grab the light golden brown bread and the sponge-textured golden bread quickly and drop them into the smooth textured brown breadbasket.",
+    "Grab two breads the square-shaped bread and the square-shaped bread piece and place in the breadbasket with rounded edges.",
+    "Simultaneously grab the bread loaf with bumpy surface and the sponge-textured golden bread, drop in the smooth textured brown breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with rough texture and the sponge-textured golden bread in the woven rectangular breadbasket.",
+    "Move the hand-sized bread block and the fluffy baked bread at once into the breadbasket for holding bread.",
+    "Pick the bread loaf with uneven edges and the sponge-textured golden bread, place them in the smooth textured brown breadbasket.",
+    "Place the cuboid bread and the bread with soft texture in the breadbasket with smooth woven texture using the dual arm",
+    "Pick the golden bread and the light brown porous bread and set them in the medium-sized rectangular breadbasket.",
+    "Take the doughy and soft bread and the medium-sized bread piece, place them inside the brown breadbasket.",
+    "Pick the light golden brown bread and the rounded square loaf for the the light brown wicker breadbasket",
+    "Simultaneously grab the hand-sized bread block and the soft square bread using the dual arm, then drop them in the smooth textured brown breadbasket.",
+    "Use two arms and set the square-shaped bread, the sponge-textured golden bread in the smooth textured brown breadbasket.",
+    "Pick up both the square-shaped bread and the golden baked bread, then place them in the brown breadbasket.",
+    "Take the bread with rough texture and the rounded square loaf to the medium woven breadbasket",
+    "Use both arms to move the bread loaf with uneven edges, the golden baked bread to the breadbasket with rounded edges.",
+    "Put the golden bread loaf and the medium-sized bread piece into the smooth textured brown breadbasket using two arms.",
+    "Shift the soft bread and the golden baked bread together to the woven rectangular breadbasket.",
+    "Take the golden bread loaf and the medium bread with rounded sides then place in the light brown wicker breadbasket.",
+    "Shift the hand-sized bread block and the fluffy baked bread into the breadbasket with wicker weave pattern",
+    "Grab both the golden bread and the medium bread with rounded sides, drop into the breadbasket with wicker weave pattern.",
+    "Grab both the soft bread and the bread with soft texture with the dual arm and place in the breadbasket with rounded edges.",
+    "Use the dual arm to place the doughy and soft bread and the soft square bread into the brown breadbasket.",
+    "Take the bread loaf with uneven edges and the golden baked bread together and place them into the medium-sized rectangular breadbasket.",
+    "Lift the cuboid bread and the bread with rounded edges with two arms, put in the smooth textured brown breadbasket.",
+    "Lift the bread loaf with uneven edges and the bread with soft texture at once with the dual arm, then set them in the woven rectangular breadbasket.",
+    "Move the bread with rough texture and the golden baked bread to the breadbasket with rounded edges",
+    "Grab the golden bread loaf and the sponge-textured golden bread quickly and drop them into the light brown basket for bread.",
+    "Grab two breads the hand-sized bread block and the medium-sized bread piece and place in the breadbasket with rounded edges.",
+    "Simultaneously grab the bread loaf with uneven edges and the medium bread with rounded sides, drop in the medium woven breadbasket.",
+    "Simultaneously use the dual arm to drop the bread loaf with bumpy surface and the golden brown bread in the breadbasket with wicker weave pattern.",
+    "Move the square-shaped bread and the soft square bread at once into the woven rectangular breadbasket.",
+    "Pick the golden bread and the medium bread with rounded sides, place them in the brown breadbasket with rounded corners.",
+    "Place the cuboid bread and the soft square bread in the medium-sized rectangular breadbasket using the dual arm",
+    "Pick the golden bread loaf and the sponge-textured golden bread and set them in the breadbasket with wicker weave pattern.",
+    "Take the bread loaf with uneven edges and the sponge-textured golden bread, place them inside the brown breadbasket.",
+    "Pick the light golden brown bread and the soft square bread for the the medium woven breadbasket",
+    "Simultaneously grab the golden bread and the square-shaped bread piece using the dual arm, then drop them in the breadbasket with rounded edges.",
+    "Use two arms and set the golden bread, the square-shaped bread piece in the medium woven breadbasket.",
+    "Pick up both the golden bread and the soft square bread, then place them in the light brown wicker breadbasket.",
+    "Take the golden bread and the bread with rounded edges to the smooth textured brown breadbasket",
+    "Use both arms to move the golden bread, the rounded square loaf to the woven rectangular breadbasket.",
+    "Put the bread block with light patches and the golden baked bread into the medium woven breadbasket using two arms.",
+    "Shift the bread block with light patches and the light brown porous bread together to the medium woven breadbasket.",
+    "Take the square-shaped bread and the golden brown bread then place in the woven rectangular breadbasket.",
+    "Shift the golden bread loaf and the rounded square loaf into the breadbasket with smooth woven texture",
+    "Grab both the bread loaf with uneven edges and the bread with rounded edges, drop into the medium woven breadbasket.",
+    "Grab both the bread loaf with uneven edges and the medium-sized bread piece with the dual arm and place in the medium-sized rectangular breadbasket.",
+    "Use the dual arm to place the golden bread loaf and the golden brown bread into the smooth textured brown breadbasket.",
+    "Take the bread block with light patches and the bread with soft texture together and place them into the light brown wicker breadbasket.",
+    "Lift the light golden brown bread and the golden brown bread with two arms, put in the breadbasket for holding bread.",
+    "Lift the golden bread loaf and the bread with soft texture at once with the dual arm, then set them in the smooth textured brown breadbasket.",
+    "Move the bread block with light patches and the bread with soft texture to the light brown wicker breadbasket",
+    "Grab the bread loaf with uneven edges and the medium-sized bread piece quickly and drop them into the breadbasket with wicker weave pattern.",
+    "Grab two breads the hand-sized bread block and the bread with soft texture and place in the woven rectangular breadbasket.",
+    "Simultaneously grab the bread with rough texture and the rounded square loaf, drop in the brown breadbasket with rounded corners.",
+    "Simultaneously use the dual arm to drop the golden bread loaf and the fluffy baked bread in the medium woven breadbasket.",
+    "Move the bread block with light patches and the sponge-textured golden bread at once into the breadbasket with rounded edges.",
+    "Pick the light golden brown bread and the medium bread with rounded sides, place them in the light brown wicker breadbasket.",
+    "Place the golden bread loaf and the bread with soft texture in the smooth textured brown breadbasket using the dual arm",
+    "Pick the golden bread loaf and the bread with soft texture and set them in the brown breadbasket with rounded corners.",
+    "Take the bread loaf with bumpy surface and the light brown porous bread, place them inside the breadbasket for holding bread.",
+    "Pick the soft bread and the rounded square loaf for the the light brown basket for bread",
+    "Simultaneously grab the soft bread and the medium bread with rounded sides using the dual arm, then drop them in the breadbasket for holding bread.",
+    "Use two arms and set the cuboid bread, the medium-sized bread piece in the light brown basket for bread.",
+    "Pick up both the bread loaf with bumpy surface and the medium-sized bread piece, then place them in the smooth textured brown breadbasket.",
+    "Take the golden bread and the fluffy baked bread to the brown breadbasket with rounded corners",
+    "Use both arms to move the golden bread, the golden baked bread to the smooth textured brown breadbasket.",
+    "Put the bread loaf with bumpy surface and the bread with soft texture into the breadbasket with rounded edges using two arms.",
+    "Shift the light golden brown bread and the fluffy baked bread together to the medium-sized rectangular breadbasket.",
+    "Take the golden bread and the medium-sized bread piece then place in the light brown wicker breadbasket.",
+    "Shift the bread loaf with uneven edges and the bread with rounded edges into the woven rectangular breadbasket",
+    "Grab both the bread block with light patches and the bread with rounded edges, drop into the breadbasket with rounded edges.",
+    "Grab both the hand-sized bread block and the golden brown bread with the dual arm and place in the medium-sized rectangular breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread with golden crust and the soft bread with golden edges and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the square bread with light spots, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the medium light brown breadbasket.",
+    "Place the bread with golden crust and the soft bread with golden edges into the rectangular light brown breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the square bread with light spots and put them in the rectangular breadbasket.",
+    "Grab the bread with golden crust and the square bread with light spots and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the soft bread with golden edges and place in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread with two arms, place in the rectangular light brown breadbasket.",
+    "Pick the rectangular bread loaf and the square bread with light spots and place them in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the spongy golden brown bread, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the soft bread with golden edges, then place them in the rectangular breadbasket.",
+    "Place the rectangular bread loaf and the spongy golden brown bread into the rectangular breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and put them in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the spongy golden brown bread and place in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread with two arms, place in the rectangular light brown breadbasket.",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the rectangular light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the spongy golden brown bread, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the square bread with light spots, then place them in the rectangular light brown breadbasket.",
+    "Place the bread loaf with soft surface and the spongy golden brown bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the bread with golden crust and the square bread with light spots and put them in the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf and the square bread with light spots and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the soft bread with golden edges and place in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread with two arms, place in the medium light brown breadbasket.",
+    "Pick the bread loaf with soft surface and the square bread with light spots and place them in the rectangular light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the square bread with light spots, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the square bread with light spots, then place them in the rectangular breadbasket.",
+    "Place the rectangular bread loaf and the spongy golden brown bread into the rectangular breadbasket using the dual arm",
+    "Grab the bread with golden crust and the soft bread with golden edges and put them in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the square bread with light spots and drop it into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the square bread with light spots and place in the rectangular breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread with two arms, place in the rectangular light brown breadbasket.",
+    "Pick the bread with golden crust and the spongy golden brown bread and place them in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread with golden crust and the square bread with light spots, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the soft bread with golden edges, then place them in the rectangular breadbasket.",
+    "Place the bread with golden crust and the spongy golden brown bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the bread with golden crust and the square bread with light spots and put them in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the square bread with light spots and place in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and the soft bread with golden edges with two arms, place in the rectangular light brown breadbasket.",
+    "Pick the rectangular bread loaf and the square bread with light spots and place them in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and the square bread with light spots and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the spongy golden brown bread, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the square bread with light spots, then place them in the rectangular light brown breadbasket.",
+    "Place the rectangular bread loaf and the spongy golden brown bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the square bread with light spots and put them in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop it into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the spongy golden brown bread and place in the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread with two arms, place in the rectangular light brown breadbasket.",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the square bread with light spots and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the soft bread with golden edges, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the spongy golden brown bread, then place them in the rectangular breadbasket.",
+    "Place the bread loaf with soft surface and the soft bread with golden edges into the rectangular breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and put them in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the soft bread with golden edges and place in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the square bread with light spots with two arms, place in the medium light brown breadbasket.",
+    "Pick the rectangular bread loaf and the soft bread with golden edges and place them in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and drop them into the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the spongy golden brown bread, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the rectangular light brown breadbasket.",
+    "Place the bread with golden crust and the square bread with light spots into the medium light brown breadbasket using the dual arm",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the square bread with light spots and place in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread with two arms, place in the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the soft bread with golden edges and place them in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the square bread with light spots, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the spongy golden brown bread, then place them in the medium light brown breadbasket.",
+    "Place the bread with golden crust and the soft bread with golden edges into the rectangular breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and put them in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the square bread with light spots and place in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the medium light brown breadbasket.",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread with golden crust and the square bread with light spots, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the square bread with light spots, then place them in the rectangular light brown breadbasket.",
+    "Place the rectangular bread loaf and the square bread with light spots into the rectangular breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and put them in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the square bread with light spots and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the square bread with light spots and place in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges with two arms, place in the rectangular light brown breadbasket.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread with golden crust and the soft bread with golden edges, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the square bread with light spots, then place them in the rectangular light brown breadbasket.",
+    "Place the bread with golden crust and the square bread with light spots into the rectangular light brown breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the square bread with light spots and put them in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the spongy golden brown bread and place in the rectangular light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the square bread with light spots with two arms, place in the rectangular breadbasket.",
+    "Pick the bread with golden crust and the soft bread with golden edges and place them in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop them into the medium light brown breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode38.json b/place_bread_basket/demo_clean/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb4c6f0b7f90c78619a02b17eb1237d3dae4fef
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hand-sized oval loaf for the brown breadbasket with rounded corners with the right arm",
+    "Grab the small golden brown bread with one hand and set it in the light brown wicker breadbasket.",
+    "Drop the brown loaf into the medium woven breadbasket",
+    "Put the golden bread loaf into the woven rectangular breadbasket after grabbing it.",
+    "Pick the bread with split top and put it into the brown breadbasket with rounded corners.",
+    "Grab the bread with split top with an arm and set in the woven rectangular breadbasket.",
+    "Grab the hand-sized oval loaf, drop it into the breadbasket with rounded edges.",
+    "Lift the bread with split top and set it in the light brown basket for bread.",
+    "Use the right arm to grab the light brown bread with ridges for the smooth textured brown breadbasket",
+    "Grab the small golden brown bread with the right arm and drop it in the smooth textured brown breadbasket.",
+    "Pick the brown loaf and move it to the light brown wicker breadbasket.",
+    "Move the small loaf with curved top to the breadbasket with rounded edges using one arm.",
+    "Pick up the golden bread loaf and drop it in the breadbasket for holding bread.",
+    "Use the right arm to grab the bread with warm golden color and drop it inside the breadbasket with rounded edges.",
+    "Put the light brown bread with ridges into the medium woven breadbasket using an arm.",
+    "Lift the light brown loaf with smooth sides and transfer to the breadbasket for holding bread.",
+    "Pick up the soft brown bread and put it in the smooth textured brown breadbasket.",
+    "Grab the brown loaf for the medium-sized rectangular breadbasket with the right arm",
+    "Grab the bread with warm golden color with one hand and set it in the light brown wicker breadbasket.",
+    "Drop the hand-sized oval loaf into the light brown wicker breadbasket",
+    "Put the small loaf with curved top into the breadbasket with wicker weave pattern after grabbing it.",
+    "Pick the brown loaf and put it into the medium woven breadbasket.",
+    "Grab the small loaf with curved top with an arm and set in the breadbasket with smooth woven texture.",
+    "Grab the light brown loaf with smooth sides, drop it into the light brown wicker breadbasket.",
+    "Lift the soft brown bread and set it in the medium-sized rectangular breadbasket.",
+    "Use the right arm to grab the bread with golden-brown crust for the light brown wicker breadbasket",
+    "Grab the light brown loaf with smooth sides with the right arm and drop it in the light brown basket for bread.",
+    "Pick the golden bread loaf and move it to the woven rectangular breadbasket.",
+    "Move the light brown loaf with smooth sides to the brown breadbasket using one arm.",
+    "Pick up the light brown bread with ridges and drop it in the smooth textured brown breadbasket.",
+    "Use the right arm to grab the bread with split top and drop it inside the breadbasket for holding bread.",
+    "Put the golden bread loaf into the breadbasket for holding bread using an arm.",
+    "Lift the soft brown bread and transfer to the brown breadbasket with rounded corners.",
+    "Pick up the smooth loaf with rounded edges and put it in the light brown basket for bread.",
+    "Grab the light brown loaf with smooth sides for the breadbasket for holding bread with the right arm",
+    "Grab the hand-sized oval loaf with one hand and set it in the breadbasket with smooth woven texture.",
+    "Drop the bread with split top into the medium woven breadbasket",
+    "Put the small loaf with curved top into the breadbasket with smooth woven texture after grabbing it.",
+    "Pick the hand-sized oval loaf and put it into the light brown basket for bread.",
+    "Grab the smooth loaf with rounded edges with an arm and set in the brown breadbasket.",
+    "Grab the brown loaf, drop it into the smooth textured brown breadbasket.",
+    "Lift the small loaf with curved top and set it in the breadbasket with wicker weave pattern.",
+    "Use the right arm to grab the bread with golden-brown crust for the light brown wicker breadbasket",
+    "Grab the small loaf with curved top with the right arm and drop it in the breadbasket with wicker weave pattern.",
+    "Pick the bread with golden-brown crust and move it to the light brown basket for bread.",
+    "Move the hand-sized oval loaf to the breadbasket with rounded edges using one arm.",
+    "Pick up the bread with golden-brown crust and drop it in the breadbasket with rounded edges.",
+    "Use the right arm to grab the light brown loaf with smooth sides and drop it inside the brown breadbasket.",
+    "Put the bread with warm golden color into the breadbasket with smooth woven texture using an arm.",
+    "Lift the light brown loaf with smooth sides and transfer to the medium woven breadbasket.",
+    "Pick up the bread with golden-brown crust and put it in the smooth textured brown breadbasket.",
+    "Grab the bread with split top for the light brown basket for bread with the right arm",
+    "Grab the small loaf with curved top with one hand and set it in the breadbasket for holding bread.",
+    "Drop the bread with golden-brown crust into the brown breadbasket",
+    "Put the light brown bread with ridges into the smooth textured brown breadbasket after grabbing it.",
+    "Pick the small golden brown bread and put it into the smooth textured brown breadbasket.",
+    "Grab the light brown loaf with smooth sides with an arm and set in the medium woven breadbasket.",
+    "Grab the bread with warm golden color, drop it into the medium woven breadbasket.",
+    "Lift the hand-sized oval loaf and set it in the brown breadbasket with rounded corners.",
+    "Use the right arm to grab the bread with split top for the breadbasket with wicker weave pattern",
+    "Grab the small golden brown bread with the right arm and drop it in the brown breadbasket.",
+    "Pick the small loaf with curved top and move it to the light brown basket for bread.",
+    "Move the light brown loaf with smooth sides to the medium woven breadbasket using one arm.",
+    "Pick up the hand-sized oval loaf and drop it in the woven rectangular breadbasket.",
+    "Use the right arm to grab the bread with golden-brown crust and drop it inside the medium woven breadbasket.",
+    "Put the bread with golden-brown crust into the brown breadbasket with rounded corners using an arm.",
+    "Lift the hand-sized oval loaf and transfer to the woven rectangular breadbasket.",
+    "Pick up the bread with warm golden color and put it in the breadbasket for holding bread.",
+    "Grab the hand-sized oval loaf for the medium-sized rectangular breadbasket with the right arm",
+    "Grab the bread with warm golden color with one hand and set it in the breadbasket with wicker weave pattern.",
+    "Drop the light brown bread with ridges into the medium woven breadbasket",
+    "Put the hand-sized oval loaf into the light brown basket for bread after grabbing it.",
+    "Pick the small loaf with curved top and put it into the medium-sized rectangular breadbasket.",
+    "Grab the bread with golden-brown crust with an arm and set in the medium-sized rectangular breadbasket.",
+    "Grab the small loaf with curved top, drop it into the medium-sized rectangular breadbasket.",
+    "Lift the small golden brown bread and set it in the breadbasket with smooth woven texture.",
+    "Use the right arm to grab the bread with warm golden color for the breadbasket with rounded edges",
+    "Grab the bread with golden-brown crust with the right arm and drop it in the breadbasket with rounded edges.",
+    "Pick the hand-sized oval loaf and move it to the woven rectangular breadbasket.",
+    "Move the hand-sized oval loaf to the brown breadbasket with rounded corners using one arm.",
+    "Pick up the small loaf with curved top and drop it in the medium woven breadbasket.",
+    "Use the right arm to grab the bread with warm golden color and drop it inside the smooth textured brown breadbasket.",
+    "Put the hand-sized oval loaf into the breadbasket with rounded edges using an arm.",
+    "Lift the small golden brown bread and transfer to the brown breadbasket.",
+    "Pick up the bread with split top and put it in the light brown basket for bread.",
+    "Grab the hand-sized oval loaf for the brown breadbasket with rounded corners with the right arm",
+    "Grab the bread with split top with one hand and set it in the medium-sized rectangular breadbasket.",
+    "Drop the bread with split top into the smooth textured brown breadbasket",
+    "Put the smooth loaf with rounded edges into the smooth textured brown breadbasket after grabbing it.",
+    "Pick the light brown bread with ridges and put it into the breadbasket with rounded edges.",
+    "Grab the small golden brown bread with an arm and set in the woven rectangular breadbasket.",
+    "Grab the small loaf with curved top, drop it into the smooth textured brown breadbasket.",
+    "Lift the smooth loaf with rounded edges and set it in the woven rectangular breadbasket.",
+    "Use the right arm to grab the smooth loaf with rounded edges for the breadbasket with wicker weave pattern",
+    "Grab the bread with warm golden color with the right arm and drop it in the breadbasket with smooth woven texture.",
+    "Pick the small loaf with curved top and move it to the breadbasket for holding bread.",
+    "Move the hand-sized oval loaf to the woven rectangular breadbasket using one arm.",
+    "Pick up the golden bread loaf and drop it in the breadbasket with smooth woven texture.",
+    "Use the right arm to grab the small loaf with curved top and drop it inside the breadbasket with smooth woven texture.",
+    "Put the golden bread loaf into the brown breadbasket with rounded corners using an arm."
+  ],
+  "unseen": [
+    "Grab the rounded oval bread with one arm, place in the rectangular breadbasket.",
+    "Pick the oval bread and drop it in the medium light brown breadbasket",
+    "Grab the rounded oval bread and put it in the rectangular breadbasket.",
+    "Place the rounded oval bread into the rectangular light brown breadbasket using the right arm",
+    "Use one arm to grab the rounded oval bread, drop in the rectangular breadbasket.",
+    "Use the right arm to pick the rounded oval bread and place in the medium light brown breadbasket.",
+    "Use the right arm to pick up the oval bread, then place it in the rectangular breadbasket.",
+    "Pick the oval bread and place it in the medium light brown breadbasket.",
+    "Grab the oval bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread with one arm, place in the rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and drop it in the rectangular light brown breadbasket",
+    "Grab the oval-shaped soft bread and put it in the rectangular light brown breadbasket.",
+    "Place the rounded oval bread into the rectangular light brown breadbasket using the right arm",
+    "Use one arm to grab the oval bread, drop in the rectangular breadbasket.",
+    "Use the right arm to pick the rounded oval bread and place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the oval-shaped soft bread, then place it in the rectangular breadbasket.",
+    "Pick the rounded oval bread and place it in the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Grab the rounded oval bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval bread with one arm, place in the rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and drop it in the medium light brown breadbasket",
+    "Grab the rounded oval bread and put it in the medium light brown breadbasket.",
+    "Place the oval-shaped soft bread into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the oval bread, drop in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the medium light brown breadbasket.",
+    "Use the right arm to pick up the oval bread, then place it in the rectangular light brown breadbasket.",
+    "Pick the oval-shaped soft bread and place it in the rectangular light brown breadbasket.",
+    "Grab the oval bread and drop it into the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the rounded oval bread with one arm, place in the rectangular breadbasket.",
+    "Pick the rounded oval bread and drop it in the medium light brown breadbasket",
+    "Grab the oval-shaped soft bread and put it in the rectangular light brown breadbasket.",
+    "Place the oval-shaped soft bread into the rectangular breadbasket using the right arm",
+    "Use one arm to grab the oval bread, drop in the medium light brown breadbasket.",
+    "Use the right arm to pick the oval bread and place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and place it in the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Grab the rounded oval bread and drop it into the rectangular breadbasket.",
+    "Grab the oval bread with one arm, place in the rectangular light brown breadbasket.",
+    "Pick the oval bread and drop it in the rectangular breadbasket",
+    "Grab the oval-shaped soft bread and put it in the medium light brown breadbasket.",
+    "Place the oval bread into the rectangular breadbasket using the right arm",
+    "Use one arm to grab the oval bread, drop in the medium light brown breadbasket.",
+    "Use the right arm to pick the oval bread and place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the rectangular breadbasket.",
+    "Pick the rounded oval bread and place it in the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread with one arm, place in the medium light brown breadbasket.",
+    "Pick the rounded oval bread and drop it in the rectangular light brown breadbasket",
+    "Grab the rounded oval bread and put it in the rectangular breadbasket.",
+    "Place the rounded oval bread into the rectangular light brown breadbasket using the right arm",
+    "Use one arm to grab the oval-shaped soft bread, drop in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the oval-shaped soft bread, then place it in the rectangular light brown breadbasket.",
+    "Pick the rounded oval bread and place it in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Grab the rounded oval bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread with one arm, place in the rectangular light brown breadbasket.",
+    "Pick the rounded oval bread and drop it in the medium light brown breadbasket",
+    "Grab the rounded oval bread and put it in the rectangular light brown breadbasket.",
+    "Place the rounded oval bread into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the rounded oval bread, drop in the rectangular breadbasket.",
+    "Use the right arm to pick the rounded oval bread and place in the rectangular breadbasket.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the medium light brown breadbasket.",
+    "Pick the oval bread and place it in the rectangular breadbasket.",
+    "Grab the oval bread and drop it into the rectangular breadbasket.",
+    "Grab the oval bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval bread with one arm, place in the rectangular breadbasket.",
+    "Pick the oval bread and drop it in the medium light brown breadbasket",
+    "Grab the rounded oval bread and put it in the rectangular light brown breadbasket.",
+    "Place the oval bread into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the oval-shaped soft bread, drop in the rectangular breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the medium light brown breadbasket.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the rectangular light brown breadbasket.",
+    "Pick the oval-shaped soft bread and place it in the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread with one arm, place in the rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and drop it in the medium light brown breadbasket",
+    "Grab the rounded oval bread and put it in the rectangular light brown breadbasket.",
+    "Place the rounded oval bread into the rectangular light brown breadbasket using the right arm",
+    "Use one arm to grab the oval-shaped soft bread, drop in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the oval-shaped soft bread, then place it in the medium light brown breadbasket.",
+    "Pick the rounded oval bread and place it in the rectangular breadbasket.",
+    "Grab the rounded oval bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and drop it into the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread with one arm, place in the rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and drop it in the rectangular breadbasket",
+    "Grab the rounded oval bread and put it in the rectangular breadbasket.",
+    "Place the rounded oval bread into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the oval bread, drop in the rectangular breadbasket.",
+    "Use the right arm to pick the oval bread and place in the medium light brown breadbasket.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the rectangular light brown breadbasket.",
+    "Pick the oval bread and place it in the rectangular breadbasket.",
+    "Grab the oval bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and drop it into the rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode39.json b/place_bread_basket/demo_clean/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a3fafdc07e60cdbe79e1409867c7251970cef5
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to move the small bread, the golden crusted bread slice to the oval-shaped breadbasket.",
+    "Pick the golden brown bread and the golden crusted bread slice, place them in the beige basket with white grid design.",
+    "Shift the small golden baked bread and the golden crusted bread slice together to the beige breadbasket.",
+    "Move the soft doughy bread and the brown bread loaf at once into the basket for bread beige plastic.",
+    "Shift the golden brown bread with braided design and the bread with firm crust edges into the oval-shaped breadbasket",
+    "Grab both the small golden baked bread and the golden brown loaf-shaped bread, drop into the smooth textured breadbasket.",
+    "Lift the golden brown bread with braided design and the golden brown loaf-shaped bread with two arms, put in the oval-shaped breadbasket.",
+    "Use the dual arm to place the small bread and the square loaf of bread into the medium plastic breadbasket oval shape.",
+    "Simultaneously grab the golden brown bread with braided design and the rectangular bread soft inside using the dual arm, then drop them in the medium plastic breadbasket oval shape.",
+    "Grab both the golden brown bread with braided design and the bread with firm crust edges with the dual arm and place in the white oval breadbasket.",
+    "Lift the golden brown bread and the bread with golden surface color at once with the dual arm, then set them in the oval-shaped breadbasket.",
+    "Put the golden bread loaf with soft inside and the slice-shaped bread into the white oval breadbasket using two arms.",
+    "Take the soft doughy bread and the soft golden baked bread to the basket for carrying bread beige",
+    "Place the golden brown bread with braided design and the slice-shaped bread in the white oval breadbasket using the dual arm",
+    "Pick the braided bread loaf and the bread with firm crust edges and set them in the beige basket with white grid design.",
+    "Simultaneously grab the smooth crusty small bread and the rectangular bread soft inside, drop in the smooth textured breadbasket.",
+    "Grab the small bread and the bread loaf with square shape quickly and drop them into the smooth textured breadbasket.",
+    "Pick the small bread and the bread with firm crust edges for the the smooth textured breadbasket",
+    "Move the golden brown bread with braided design and the brown bread loaf to the beige breadbasket",
+    "Use two arms and set the golden brown bread with braided design, the golden brown loaf-shaped bread in the white oval breadbasket.",
+    "Pick up both the soft golden bread and the soft golden baked bread, then place them in the medium breadbasket with perforated sides.",
+    "Grab two breads the small bread and the bread loaf with square shape and place in the beige plastic breadbasket.",
+    "Take the round bread with braided top and the bread with rounded corners together and place them into the oval-shaped breadbasket.",
+    "Take the golden brown bread with braided design and the bread with golden surface color then place in the white oval breadbasket.",
+    "Simultaneously use the dual arm to drop the soft golden bread and the golden crusted bread slice in the medium oval basket for bread.",
+    "Take the soft golden bread and the bread with firm crust edges, place them inside the basket for carrying bread beige.",
+    "Use both arms to move the small golden baked bread, the bread with rounded corners to the beige plastic breadbasket.",
+    "Pick the golden brown bread with braided design and the golden crusted bread slice, place them in the medium breadbasket with perforated sides.",
+    "Shift the smooth crusty small bread and the slice-shaped bread together to the beige plastic breadbasket.",
+    "Move the bread with golden crust and the bread with firm crust edges at once into the beige basket with white grid design.",
+    "Shift the golden brown bread and the slice-shaped bread into the smooth textured breadbasket",
+    "Grab both the golden brown bread and the golden bread, drop into the medium oval basket for bread.",
+    "Lift the smooth crusty small bread and the bread with firm crust edges with two arms, put in the beige basket with white grid design.",
+    "Use the dual arm to place the soft golden bread and the bread with firm crust edges into the white oval breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the brown bread loaf using the dual arm, then drop them in the white oval breadbasket.",
+    "Grab both the golden brown bread with braided design and the golden bread with the dual arm and place in the medium breadbasket with perforated sides.",
+    "Lift the small bread and the brown bread loaf at once with the dual arm, then set them in the smooth textured breadbasket.",
+    "Put the soft doughy bread and the bread with firm crust edges into the medium plastic breadbasket oval shape using two arms.",
+    "Take the smooth crusty small bread and the square loaf of bread to the beige plastic breadbasket",
+    "Place the round bread with braided top and the brown bread loaf in the beige breadbasket using the dual arm",
+    "Pick the round bread with crusty texture and the slice-shaped bread and set them in the beige breadbasket.",
+    "Simultaneously grab the small bread and the bread with golden surface color, drop in the basket for carrying bread beige.",
+    "Grab the small bread and the golden bread quickly and drop them into the basket for bread beige plastic.",
+    "Pick the small golden baked bread and the brown bread loaf for the the beige basket with white grid design",
+    "Move the soft doughy bread and the bread with firm crust edges to the medium plastic breadbasket oval shape",
+    "Use two arms and set the braided bread loaf, the rectangular bread soft inside in the beige breadbasket.",
+    "Pick up both the soft golden bread and the rectangular bread soft inside, then place them in the oval perforated breadbasket white edges.",
+    "Grab two breads the round bread with crusty texture and the rectangular bread soft inside and place in the oval-shaped breadbasket.",
+    "Take the round bread with braided top and the square loaf of bread together and place them into the basket for bread beige plastic.",
+    "Take the golden bread loaf with soft inside and the slice-shaped bread then place in the basket for bread beige plastic.",
+    "Simultaneously use the dual arm to drop the round bread with crusty texture and the golden crusted bread slice in the oval-shaped breadbasket.",
+    "Take the smooth crusty small bread and the bread with golden surface color, place them inside the medium breadbasket with perforated sides.",
+    "Use both arms to move the small golden baked bread, the rectangular bread soft inside to the white oval breadbasket.",
+    "Pick the golden bread loaf with soft inside and the soft golden baked bread, place them in the oval perforated breadbasket white edges.",
+    "Shift the braided bread loaf and the bread loaf with square shape together to the basket for carrying bread beige.",
+    "Move the small golden baked bread and the slice-shaped bread at once into the oval perforated breadbasket white edges.",
+    "Shift the round bread with crusty texture and the bread with rounded corners into the medium plastic breadbasket oval shape",
+    "Grab both the round bread with braided top and the golden bread, drop into the smooth textured breadbasket.",
+    "Lift the bread with golden crust and the bread with firm crust edges with two arms, put in the beige breadbasket.",
+    "Use the dual arm to place the soft doughy bread and the bread loaf with square shape into the medium plastic breadbasket oval shape.",
+    "Simultaneously grab the braided bread loaf and the golden crusted bread slice using the dual arm, then drop them in the basket for bread beige plastic.",
+    "Grab both the smooth crusty small bread and the bread loaf with square shape with the dual arm and place in the white oval breadbasket.",
+    "Lift the soft golden bread and the square loaf of bread at once with the dual arm, then set them in the basket for carrying bread beige.",
+    "Put the bread with golden crust and the golden bread into the basket for bread beige plastic using two arms.",
+    "Take the golden brown bread with braided design and the square loaf of bread to the medium oval basket for bread",
+    "Place the braided bread loaf and the brown bread loaf in the smooth textured breadbasket using the dual arm",
+    "Pick the round bread with crusty texture and the bread loaf with square shape and set them in the smooth textured breadbasket.",
+    "Simultaneously grab the golden bread loaf with soft inside and the bread with rounded corners, drop in the basket for bread beige plastic.",
+    "Grab the soft doughy bread and the bread with rounded corners quickly and drop them into the medium breadbasket with perforated sides.",
+    "Pick the small bread and the golden bread for the the smooth textured breadbasket",
+    "Move the golden bread loaf with soft inside and the bread loaf with square shape to the oval-shaped breadbasket",
+    "Use two arms and set the braided bread loaf, the golden bread in the medium plastic breadbasket oval shape.",
+    "Pick up both the round bread with braided top and the golden crusted bread slice, then place them in the white oval breadbasket.",
+    "Grab two breads the round bread with braided top and the golden crusted bread slice and place in the medium breadbasket with perforated sides.",
+    "Take the bread with golden crust and the golden crusted bread slice together and place them into the beige basket with white grid design.",
+    "Take the round bread with braided top and the slice-shaped bread then place in the smooth textured breadbasket.",
+    "Simultaneously use the dual arm to drop the golden brown bread and the golden brown loaf-shaped bread in the basket for bread beige plastic.",
+    "Take the smooth crusty small bread and the bread with rounded corners, place them inside the smooth textured breadbasket.",
+    "Use both arms to move the round bread with crusty texture, the golden bread to the beige breadbasket.",
+    "Pick the smooth crusty small bread and the bread with golden surface color, place them in the basket for bread beige plastic.",
+    "Shift the soft doughy bread and the bread with golden surface color together to the beige breadbasket.",
+    "Move the golden brown bread and the square loaf of bread at once into the smooth textured breadbasket.",
+    "Shift the smooth crusty small bread and the rectangular bread soft inside into the beige basket with white grid design",
+    "Grab both the soft golden bread and the brown bread loaf, drop into the beige breadbasket.",
+    "Lift the golden brown bread with braided design and the bread loaf with square shape with two arms, put in the oval perforated breadbasket white edges.",
+    "Use the dual arm to place the bread with golden crust and the bread with golden surface color into the oval perforated breadbasket white edges.",
+    "Simultaneously grab the soft doughy bread and the bread with golden surface color using the dual arm, then drop them in the oval-shaped breadbasket.",
+    "Grab both the bread with golden crust and the soft golden baked bread with the dual arm and place in the beige breadbasket.",
+    "Lift the soft golden bread and the square loaf of bread at once with the dual arm, then set them in the smooth textured breadbasket.",
+    "Put the soft doughy bread and the golden brown loaf-shaped bread into the medium breadbasket with perforated sides using two arms.",
+    "Take the smooth crusty small bread and the golden crusted bread slice to the medium plastic breadbasket oval shape",
+    "Place the golden bread loaf with soft inside and the golden bread in the oval-shaped breadbasket using the dual arm",
+    "Pick the small golden baked bread and the bread loaf with square shape and set them in the oval-shaped breadbasket.",
+    "Simultaneously grab the small golden baked bread and the bread with rounded corners, drop in the basket for bread beige plastic.",
+    "Grab the soft golden bread and the rectangular bread soft inside quickly and drop them into the medium breadbasket with perforated sides.",
+    "Pick the bread with golden crust and the slice-shaped bread for the the white oval breadbasket",
+    "Move the bread with golden crust and the bread with golden surface color to the oval-shaped breadbasket",
+    "Use two arms and set the round bread with crusty texture, the golden crusted bread slice in the oval-shaped breadbasket.",
+    "Pick up both the smooth crusty small bread and the bread with rounded corners, then place them in the smooth textured breadbasket.",
+    "Grab two breads the soft doughy bread and the golden crusted bread slice and place in the beige breadbasket."
+  ],
+  "unseen": [
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the bread loaf medium-sized with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the palm-sized braided golden bread and the small loaf-shaped bread, drop in the white basket with beige bottom.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the soft rectangular bread loaf, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the small loaf-shaped bread and place in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the bread loaf medium-sized into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the round braided loaf and the soft rectangular bread loaf and place them in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and drop it into the white basket with beige bottom.",
+    "Grab the braided top round bread and the small loaf-shaped bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the palm-sized braided golden bread and the small loaf-shaped bread, drop in the white basket with beige bottom.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the braided top round bread and the soft rectangular bread loaf, then place them in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the braided top round bread and the bread loaf medium-sized and place in the white basket with beige bottom.",
+    "Place the braided top round bread and the bread loaf medium-sized into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the palm-sized braided golden bread and the small loaf-shaped bread and place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized and drop it into the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the bread loaf medium-sized with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread loaf medium-sized, drop in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the bread loaf medium-sized and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the bread loaf medium-sized, then place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the soft rectangular bread loaf and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the small loaf-shaped bread and place in the white basket with beige bottom.",
+    "Place the round braided loaf and the soft rectangular bread loaf into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the palm-sized braided golden bread and the bread loaf medium-sized and place them in the white basket with beige bottom.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Grab the round braided loaf and the soft rectangular bread loaf with two arms, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the braided top round bread and the soft rectangular bread loaf, drop in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the bread loaf medium-sized and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the bread loaf medium-sized, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the braided top round bread and the bread loaf medium-sized and place in the white basket with beige bottom.",
+    "Place the braided top round bread and the small loaf-shaped bread into the white basket with beige bottom using the dual arm",
+    "Pick the palm-sized braided golden bread and the bread loaf medium-sized and place them in the white basket with beige bottom.",
+    "Grab the braided top round bread and the bread loaf medium-sized and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the soft rectangular bread loaf with two arms, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the palm-sized braided golden bread and the soft rectangular bread loaf, drop in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the bread loaf medium-sized and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the braided top round bread and the small loaf-shaped bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the soft rectangular bread loaf and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the round braided loaf and the bread loaf medium-sized and place in the breadbasket with smooth bottom grid sides.",
+    "Place the round braided loaf and the soft rectangular bread loaf into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the palm-sized braided golden bread and the bread loaf medium-sized and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized with two arms, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the palm-sized braided golden bread and the small loaf-shaped bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the bread loaf medium-sized, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the braided top round bread and the small loaf-shaped bread and place in the breadbasket with hollowed white walls.",
+    "Place the round braided loaf and the soft rectangular bread loaf into the white basket with beige bottom using the dual arm",
+    "Pick the palm-sized braided golden bread and the soft rectangular bread loaf and place them in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the soft rectangular bread loaf with two arms, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the palm-sized braided golden bread and the soft rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Grab the braided top round bread and the small loaf-shaped bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the braided top round bread and the bread loaf medium-sized, then place them in the white basket with beige bottom.",
+    "Grab the braided top round bread and the bread loaf medium-sized and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick the round braided loaf and the soft rectangular bread loaf and place in the white basket with beige bottom.",
+    "Place the round braided loaf and the soft rectangular bread loaf into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the palm-sized braided golden bread and the soft rectangular bread loaf and place them in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop it into the white basket with beige bottom.",
+    "Grab the braided top round bread and the soft rectangular bread loaf with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the round braided loaf and the small loaf-shaped bread, drop in the white basket with beige bottom.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the bread loaf medium-sized, then place them in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the small loaf-shaped bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the small loaf-shaped bread and place in the breadbasket with smooth bottom grid sides.",
+    "Place the braided top round bread and the small loaf-shaped bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the braided top round bread and the soft rectangular bread loaf and place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the soft rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the round braided loaf and the soft rectangular bread loaf, drop in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the bread loaf medium-sized and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the braided top round bread and the small loaf-shaped bread, then place them in the white basket with beige bottom.",
+    "Grab the round braided loaf and the bread loaf medium-sized and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the braided top round bread and the small loaf-shaped bread and place in the white basket with beige bottom.",
+    "Place the braided top round bread and the bread loaf medium-sized into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the braided top round bread and the bread loaf medium-sized and place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the soft rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the soft rectangular bread loaf with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the round braided loaf and the soft rectangular bread loaf, drop in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the small loaf-shaped bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the bread loaf medium-sized, then place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the small loaf-shaped bread and place in the breadbasket with hollowed white walls.",
+    "Place the round braided loaf and the bread loaf medium-sized into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the braided top round bread and the small loaf-shaped bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the soft rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Grab the round braided loaf and the small loaf-shaped bread with two arms, place in the white basket with beige bottom.",
+    "Use one arm to grab the palm-sized braided golden bread and the small loaf-shaped bread, drop in the white basket with beige bottom.",
+    "Grab the braided top round bread and the small loaf-shaped bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the bread loaf medium-sized, then place them in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the small loaf-shaped bread and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the soft rectangular bread loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Place the braided top round bread and the small loaf-shaped bread into the white basket with beige bottom using the dual arm",
+    "Pick the palm-sized braided golden bread and the small loaf-shaped bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and drop it into the breadbasket with hollowed white walls."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode4.json b/place_bread_basket/demo_clean/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb7fba770fcc27546cd1ed6c4fc112ea8dbbdb4
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the bread with split top and the light brown bread with ridges into the woven light beige breadbasket",
+    "Move the small golden brown bread and the smooth loaf with rounded edges at once into the medium rectangular breadbasket.",
+    "Grab the small loaf with curved top and the smooth loaf with rounded edges quickly and drop them into the textured beige breadbasket.",
+    "Grab both the light brown loaf with smooth sides and the hand-sized oval loaf with the dual arm and place in the beige breadbasket for holding bread.",
+    "Put the small golden brown bread and the soft brown bread into the breadbasket for bread storage using two arms.",
+    "Grab two breads the bread with golden-brown crust and the brown loaf and place in the plastic mesh breadbasket.",
+    "Grab both the golden bread loaf and the smooth loaf with rounded edges, drop into the textured beige breadbasket.",
+    "Pick the bread with warm golden color and the golden bread loaf for the the rectangular breadbasket",
+    "Pick up both the golden bread loaf and the bread with golden-brown crust, then place them in the breadbasket for bread storage.",
+    "Take the light brown loaf with smooth sides and the small loaf with curved top then place in the light and textured breadbasket.",
+    "Move the light brown loaf with smooth sides and the bread with warm golden color to the plastic breadbasket with mesh sides",
+    "Place the golden bread loaf and the soft brown bread in the beige breadbasket using the dual arm",
+    "Use two arms and set the smooth loaf with rounded edges, the bread with warm golden color in the light and textured breadbasket.",
+    "Use both arms to move the smooth loaf with rounded edges, the small loaf with curved top to the breadbasket for bread storage.",
+    "Shift the bread with warm golden color and the smooth loaf with rounded edges together to the beige breadbasket for holding bread.",
+    "Take the bread with split top and the bread with warm golden color to the plastic breadbasket with mesh sides",
+    "Simultaneously grab the brown loaf and the small loaf with curved top using the dual arm, then drop them in the light and textured breadbasket.",
+    "Use the dual arm to place the small golden brown bread and the small golden brown bread into the beige breadbasket for holding bread.",
+    "Lift the bread with golden-brown crust and the light brown bread with ridges with two arms, put in the textured beige breadbasket.",
+    "Pick the light brown bread with ridges and the hand-sized oval loaf, place them in the beige breadbasket for holding bread.",
+    "Take the small golden brown bread and the small golden brown bread, place them inside the breadbasket with textured sides.",
+    "Simultaneously grab the brown loaf and the bread with split top, drop in the breadbasket for bread storage.",
+    "Pick the bread with warm golden color and the smooth loaf with rounded edges and set them in the breadbasket with textured sides.",
+    "Take the bread with warm golden color and the bread with split top together and place them into the textured beige breadbasket.",
+    "Simultaneously use the dual arm to drop the smooth loaf with rounded edges and the soft brown bread in the textured beige breadbasket.",
+    "Lift the bread with split top and the small golden brown bread at once with the dual arm, then set them in the rectangular breadbasket.",
+    "Shift the small loaf with curved top and the smooth loaf with rounded edges into the beige breadbasket",
+    "Move the small loaf with curved top and the golden bread loaf at once into the breadbasket for bread storage.",
+    "Grab the bread with golden-brown crust and the small golden brown bread quickly and drop them into the plastic mesh breadbasket.",
+    "Grab both the brown loaf and the bread with split top with the dual arm and place in the breadbasket with textured sides.",
+    "Put the light brown bread with ridges and the light brown bread with ridges into the plastic mesh breadbasket using two arms.",
+    "Grab two breads the light brown bread with ridges and the brown loaf and place in the rectangular breadbasket.",
+    "Grab both the bread with warm golden color and the bread with split top, drop into the breadbasket with textured sides.",
+    "Pick the brown loaf and the bread with golden-brown crust for the the breadbasket with textured sides",
+    "Pick up both the smooth loaf with rounded edges and the smooth loaf with rounded edges, then place them in the plastic breadbasket with mesh sides.",
+    "Take the bread with golden-brown crust and the light brown loaf with smooth sides then place in the beige breadbasket.",
+    "Move the bread with warm golden color and the light brown loaf with smooth sides to the textured beige breadbasket",
+    "Place the smooth loaf with rounded edges and the golden bread loaf in the plastic mesh breadbasket using the dual arm",
+    "Use two arms and set the golden bread loaf, the light brown bread with ridges in the medium rectangular breadbasket.",
+    "Use both arms to move the soft brown bread, the light brown bread with ridges to the rectangular breadbasket.",
+    "Shift the small golden brown bread and the smooth loaf with rounded edges together to the breadbasket for bread storage.",
+    "Take the small loaf with curved top and the light brown bread with ridges to the light beige rectangular breadbasket",
+    "Simultaneously grab the hand-sized oval loaf and the soft brown bread using the dual arm, then drop them in the medium rectangular breadbasket.",
+    "Use the dual arm to place the smooth loaf with rounded edges and the small loaf with curved top into the light and textured breadbasket.",
+    "Lift the soft brown bread and the light brown loaf with smooth sides with two arms, put in the breadbasket with textured sides.",
+    "Pick the golden bread loaf and the golden bread loaf, place them in the breadbasket with textured sides.",
+    "Take the smooth loaf with rounded edges and the bread with warm golden color, place them inside the medium rectangular breadbasket.",
+    "Simultaneously grab the light brown loaf with smooth sides and the bread with split top, drop in the plastic breadbasket with mesh sides.",
+    "Pick the golden bread loaf and the golden bread loaf and set them in the beige breadbasket for holding bread.",
+    "Take the hand-sized oval loaf and the light brown bread with ridges together and place them into the rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the light brown loaf with smooth sides and the golden bread loaf in the rectangular breadbasket.",
+    "Lift the smooth loaf with rounded edges and the brown loaf at once with the dual arm, then set them in the beige breadbasket for holding bread.",
+    "Shift the bread with split top and the small loaf with curved top into the medium rectangular breadbasket",
+    "Move the soft brown bread and the golden bread loaf at once into the plastic mesh breadbasket.",
+    "Grab the bread with warm golden color and the soft brown bread quickly and drop them into the beige breadbasket for holding bread.",
+    "Grab both the golden bread loaf and the golden bread loaf with the dual arm and place in the textured beige breadbasket.",
+    "Put the brown loaf and the light brown loaf with smooth sides into the light beige rectangular breadbasket using two arms.",
+    "Grab two breads the bread with split top and the bread with warm golden color and place in the rectangular breadbasket.",
+    "Grab both the bread with split top and the bread with golden-brown crust, drop into the woven light beige breadbasket.",
+    "Pick the hand-sized oval loaf and the bread with split top for the the breadbasket for bread storage",
+    "Pick up both the smooth loaf with rounded edges and the hand-sized oval loaf, then place them in the breadbasket for bread storage.",
+    "Take the light brown bread with ridges and the bread with warm golden color then place in the plastic breadbasket with mesh sides.",
+    "Move the smooth loaf with rounded edges and the soft brown bread to the beige breadbasket",
+    "Place the soft brown bread and the small golden brown bread in the woven light beige breadbasket using the dual arm",
+    "Use two arms and set the brown loaf, the brown loaf in the textured beige breadbasket.",
+    "Use both arms to move the brown loaf, the light brown loaf with smooth sides to the breadbasket for bread storage.",
+    "Shift the bread with split top and the golden bread loaf together to the beige breadbasket.",
+    "Take the light brown loaf with smooth sides and the light brown bread with ridges to the light and textured breadbasket",
+    "Simultaneously grab the small loaf with curved top and the bread with golden-brown crust using the dual arm, then drop them in the breadbasket with textured sides.",
+    "Use the dual arm to place the smooth loaf with rounded edges and the light brown loaf with smooth sides into the beige breadbasket.",
+    "Lift the hand-sized oval loaf and the small golden brown bread with two arms, put in the light and textured breadbasket.",
+    "Pick the brown loaf and the small loaf with curved top, place them in the beige breadbasket.",
+    "Take the light brown loaf with smooth sides and the brown loaf, place them inside the beige breadbasket.",
+    "Simultaneously grab the small golden brown bread and the small loaf with curved top, drop in the light and textured breadbasket.",
+    "Pick the bread with split top and the small golden brown bread and set them in the light beige rectangular breadbasket.",
+    "Take the small loaf with curved top and the soft brown bread together and place them into the medium rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with split top and the light brown bread with ridges in the plastic mesh breadbasket.",
+    "Lift the small loaf with curved top and the smooth loaf with rounded edges at once with the dual arm, then set them in the plastic mesh breadbasket.",
+    "Shift the brown loaf and the hand-sized oval loaf into the textured beige breadbasket",
+    "Move the bread with split top and the small golden brown bread at once into the light and textured breadbasket.",
+    "Grab the bread with warm golden color and the smooth loaf with rounded edges quickly and drop them into the medium rectangular breadbasket.",
+    "Grab both the soft brown bread and the hand-sized oval loaf with the dual arm and place in the textured beige breadbasket.",
+    "Put the small golden brown bread and the bread with golden-brown crust into the beige breadbasket for holding bread using two arms.",
+    "Grab two breads the golden bread loaf and the bread with split top and place in the light and textured breadbasket.",
+    "Grab both the soft brown bread and the soft brown bread, drop into the beige breadbasket for holding bread.",
+    "Pick the small golden brown bread and the golden bread loaf for the the rectangular breadbasket",
+    "Pick up both the small golden brown bread and the bread with split top, then place them in the light beige rectangular breadbasket.",
+    "Take the hand-sized oval loaf and the light brown bread with ridges then place in the plastic mesh breadbasket.",
+    "Move the soft brown bread and the small loaf with curved top to the textured beige breadbasket",
+    "Place the light brown bread with ridges and the bread with warm golden color in the breadbasket with textured sides using the dual arm",
+    "Use two arms and set the light brown bread with ridges, the brown loaf in the light beige rectangular breadbasket.",
+    "Use both arms to move the bread with split top, the bread with warm golden color to the textured beige breadbasket.",
+    "Shift the soft brown bread and the bread with warm golden color together to the breadbasket for bread storage.",
+    "Take the bread with split top and the bread with warm golden color to the breadbasket with textured sides",
+    "Simultaneously grab the bread with golden-brown crust and the smooth loaf with rounded edges using the dual arm, then drop them in the woven light beige breadbasket.",
+    "Use the dual arm to place the bread with split top and the hand-sized oval loaf into the beige breadbasket.",
+    "Lift the bread with split top and the small golden brown bread with two arms, put in the plastic mesh breadbasket.",
+    "Pick the bread with warm golden color and the light brown loaf with smooth sides, place them in the medium rectangular breadbasket.",
+    "Take the smooth loaf with rounded edges and the small golden brown bread, place them inside the breadbasket for bread storage.",
+    "Simultaneously grab the golden bread loaf and the hand-sized oval loaf, drop in the woven light beige breadbasket."
+  ],
+  "unseen": [
+    "Use one arm to grab the rounded oval bread and the rounded oval bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and put them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval-shaped soft bread and place in the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the rounded oval bread, then place them in the woven shallow breadbasket.",
+    "Place the rounded oval bread and the rounded oval bread into the woven shallow breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the rounded oval bread and the oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Pick the rounded oval bread and the oval-shaped soft bread and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the oval bread, drop in the woven shallow breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread and put them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval bread and place in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval bread, then place them in the shallow rectangular breadbasket.",
+    "Place the oval-shaped soft bread and the rounded oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the oval bread and the oval-shaped soft bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the oval-shaped soft bread, drop in the breadbasket with woven pattern.",
+    "Grab the oval bread and the rounded oval bread and put them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval bread and place in the breadbasket with woven pattern.",
+    "Grab the oval bread and the oval-shaped soft bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the rounded oval bread, then place them in the woven shallow breadbasket.",
+    "Place the oval bread and the oval bread into the woven shallow breadbasket using the dual arm",
+    "Grab the oval bread and the oval bread and drop them into the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the oval bread with two arms, place in the woven shallow breadbasket.",
+    "Pick the rounded oval bread and the oval bread and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the oval bread and the rounded oval bread, drop in the woven shallow breadbasket.",
+    "Grab the oval bread and the oval bread and put them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the rounded oval bread and place in the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the oval-shaped soft bread, then place them in the woven shallow breadbasket.",
+    "Place the oval bread and the oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the oval bread and the oval-shaped soft bread and drop them into the breadbasket with woven pattern.",
+    "Grab the oval-shaped soft bread and the oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Pick the rounded oval bread and the rounded oval bread and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval-shaped soft bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and put them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the oval bread and the oval-shaped soft bread and place in the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the rounded oval bread, then place them in the woven shallow breadbasket.",
+    "Place the rounded oval bread and the rounded oval bread into the woven shallow breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop them into the woven shallow breadbasket.",
+    "Grab the oval bread and the oval bread with two arms, place in the woven shallow breadbasket.",
+    "Pick the oval-shaped soft bread and the oval bread and place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the oval bread and the oval bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and put them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval bread and place in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the rounded oval bread, then place them in the breadbasket with woven pattern.",
+    "Place the oval-shaped soft bread and the rounded oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the oval bread and the oval bread and drop them into the woven shallow breadbasket.",
+    "Grab the oval bread and the oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the oval bread and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval bread and the rounded oval bread, drop in the woven shallow breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and put them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the oval bread and the rounded oval bread and place in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the oval bread and the oval-shaped soft bread, then place them in the breadbasket with woven pattern.",
+    "Place the oval-shaped soft bread and the oval-shaped soft bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the rounded oval bread and the rounded oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Pick the oval-shaped soft bread and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval bread and the rounded oval bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and put them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the rounded oval bread and place in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the oval bread and the oval-shaped soft bread, then place them in the breadbasket with woven pattern.",
+    "Place the oval-shaped soft bread and the oval bread into the breadbasket with woven pattern using the dual arm",
+    "Grab the oval bread and the oval-shaped soft bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread with two arms, place in the woven shallow breadbasket.",
+    "Pick the oval-shaped soft bread and the oval-shaped soft bread and place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the rounded oval bread and the rounded oval bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and put them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the oval bread and place in the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the oval bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval bread, then place them in the shallow rectangular breadbasket.",
+    "Place the oval-shaped soft bread and the oval-shaped soft bread into the woven shallow breadbasket using the dual arm",
+    "Grab the oval bread and the oval-shaped soft bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the rounded oval bread and the oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the oval bread and the rounded oval bread and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and put them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval-shaped soft bread and place in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the rounded oval bread, then place them in the breadbasket with woven pattern.",
+    "Place the oval-shaped soft bread and the oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the oval bread and the rounded oval bread and drop them into the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Pick the oval bread and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the oval-shaped soft bread, drop in the breadbasket with woven pattern.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and put them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval-shaped soft bread and place in the breadbasket with woven pattern.",
+    "Grab the oval bread and the oval-shaped soft bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the oval-shaped soft bread, then place them in the breadbasket with woven pattern.",
+    "Place the oval-shaped soft bread and the oval bread into the breadbasket with woven pattern using the dual arm",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and drop them into the breadbasket with woven pattern.",
+    "Grab the oval bread and the oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Pick the oval-shaped soft bread and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the oval bread, drop in the breadbasket with woven pattern."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode40.json b/place_bread_basket/demo_clean/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..75c8c3a979807049685d59a82e4925853b0737b3
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the golden bread loaf and the golden crusted bread slice, place them inside the medium woven breadbasket.",
+    "Move the light brown bread with ridges and the bread with rounded corners at once into the medium-sized rectangular breadbasket.",
+    "Take the light brown loaf with smooth sides and the golden brown loaf-shaped bread to the breadbasket for holding bread",
+    "Shift the bread with warm golden color and the bread with golden surface color together to the light brown wicker breadbasket.",
+    "Grab both the golden bread loaf and the bread with firm crust edges with the dual arm and place in the breadbasket with smooth woven texture.",
+    "Simultaneously grab the brown loaf and the bread with rounded corners, drop in the light brown basket for bread.",
+    "Simultaneously use the dual arm to drop the small loaf with curved top and the bread with golden surface color in the woven rectangular breadbasket.",
+    "Pick the light brown loaf with smooth sides and the bread with golden surface color and set them in the breadbasket with rounded edges.",
+    "Shift the light brown bread with ridges and the square loaf of bread into the woven rectangular breadbasket",
+    "Pick the hand-sized oval loaf and the bread with rounded corners, place them in the medium woven breadbasket.",
+    "Take the bread with warm golden color and the rectangular bread soft inside then place in the breadbasket with smooth woven texture.",
+    "Grab the bread with split top and the bread with firm crust edges quickly and drop them into the medium-sized rectangular breadbasket.",
+    "Take the bread with golden-brown crust and the golden brown loaf-shaped bread together and place them into the breadbasket with smooth woven texture.",
+    "Pick the light brown bread with ridges and the square loaf of bread for the the breadbasket with smooth woven texture",
+    "Use the dual arm to place the smooth loaf with rounded edges and the square loaf of bread into the light brown basket for bread.",
+    "Use both arms to move the soft brown bread, the soft golden baked bread to the smooth textured brown breadbasket.",
+    "Move the soft brown bread and the soft golden baked bread to the breadbasket with wicker weave pattern",
+    "Lift the hand-sized oval loaf and the golden brown loaf-shaped bread at once with the dual arm, then set them in the woven rectangular breadbasket.",
+    "Lift the hand-sized oval loaf and the rectangular bread soft inside with two arms, put in the light brown basket for bread.",
+    "Grab both the light brown loaf with smooth sides and the brown bread loaf, drop into the breadbasket with wicker weave pattern.",
+    "Put the bread with golden-brown crust and the golden crusted bread slice into the light brown wicker breadbasket using two arms.",
+    "Pick up both the bread with split top and the bread with firm crust edges, then place them in the breadbasket for holding bread.",
+    "Place the brown loaf and the bread with rounded corners in the breadbasket with smooth woven texture using the dual arm",
+    "Grab two breads the hand-sized oval loaf and the golden crusted bread slice and place in the breadbasket with rounded edges.",
+    "Use two arms and set the light brown bread with ridges, the bread with golden surface color in the woven rectangular breadbasket.",
+    "Simultaneously grab the bread with split top and the golden bread using the dual arm, then drop them in the medium woven breadbasket.",
+    "Take the small golden brown bread and the soft golden baked bread, place them inside the breadbasket with smooth woven texture.",
+    "Move the small loaf with curved top and the golden crusted bread slice at once into the brown breadbasket.",
+    "Take the golden bread loaf and the bread with rounded corners to the light brown wicker breadbasket",
+    "Shift the soft brown bread and the rectangular bread soft inside together to the smooth textured brown breadbasket.",
+    "Grab both the smooth loaf with rounded edges and the bread loaf with square shape with the dual arm and place in the breadbasket with rounded edges.",
+    "Simultaneously grab the brown loaf and the rectangular bread soft inside, drop in the breadbasket with rounded edges.",
+    "Simultaneously use the dual arm to drop the smooth loaf with rounded edges and the slice-shaped bread in the brown breadbasket with rounded corners.",
+    "Pick the light brown loaf with smooth sides and the rectangular bread soft inside and set them in the light brown wicker breadbasket.",
+    "Shift the light brown loaf with smooth sides and the golden bread into the smooth textured brown breadbasket",
+    "Pick the soft brown bread and the square loaf of bread, place them in the medium-sized rectangular breadbasket.",
+    "Take the bread with warm golden color and the bread with golden surface color then place in the brown breadbasket.",
+    "Grab the smooth loaf with rounded edges and the bread loaf with square shape quickly and drop them into the light brown basket for bread.",
+    "Take the soft brown bread and the golden bread together and place them into the medium-sized rectangular breadbasket.",
+    "Pick the light brown bread with ridges and the brown bread loaf for the the light brown wicker breadbasket",
+    "Use the dual arm to place the small golden brown bread and the soft golden baked bread into the woven rectangular breadbasket.",
+    "Use both arms to move the brown loaf, the golden crusted bread slice to the brown breadbasket with rounded corners.",
+    "Move the bread with split top and the square loaf of bread to the light brown basket for bread",
+    "Lift the light brown bread with ridges and the bread with golden surface color at once with the dual arm, then set them in the light brown wicker breadbasket.",
+    "Lift the smooth loaf with rounded edges and the bread with firm crust edges with two arms, put in the medium-sized rectangular breadbasket.",
+    "Grab both the small loaf with curved top and the bread with rounded corners, drop into the breadbasket for holding bread.",
+    "Put the smooth loaf with rounded edges and the golden bread into the smooth textured brown breadbasket using two arms.",
+    "Pick up both the bread with golden-brown crust and the golden bread, then place them in the breadbasket with smooth woven texture.",
+    "Place the light brown loaf with smooth sides and the bread with golden surface color in the breadbasket with smooth woven texture using the dual arm",
+    "Grab two breads the soft brown bread and the slice-shaped bread and place in the brown breadbasket with rounded corners.",
+    "Use two arms and set the small golden brown bread, the brown bread loaf in the breadbasket with smooth woven texture.",
+    "Simultaneously grab the light brown bread with ridges and the bread loaf with square shape using the dual arm, then drop them in the breadbasket with smooth woven texture.",
+    "Take the soft brown bread and the square loaf of bread, place them inside the light brown basket for bread.",
+    "Move the bread with golden-brown crust and the bread with golden surface color at once into the breadbasket with smooth woven texture.",
+    "Take the light brown bread with ridges and the bread loaf with square shape to the brown breadbasket with rounded corners",
+    "Shift the bread with warm golden color and the brown bread loaf together to the breadbasket for holding bread.",
+    "Grab both the light brown loaf with smooth sides and the bread with firm crust edges with the dual arm and place in the medium-sized rectangular breadbasket.",
+    "Simultaneously grab the small loaf with curved top and the bread with golden surface color, drop in the light brown wicker breadbasket.",
+    "Simultaneously use the dual arm to drop the hand-sized oval loaf and the golden bread in the light brown basket for bread.",
+    "Pick the golden bread loaf and the golden bread and set them in the breadbasket with wicker weave pattern.",
+    "Shift the smooth loaf with rounded edges and the rectangular bread soft inside into the light brown wicker breadbasket",
+    "Pick the bread with split top and the bread with firm crust edges, place them in the smooth textured brown breadbasket.",
+    "Take the light brown loaf with smooth sides and the bread loaf with square shape then place in the woven rectangular breadbasket.",
+    "Grab the hand-sized oval loaf and the golden bread quickly and drop them into the smooth textured brown breadbasket.",
+    "Take the bread with warm golden color and the rectangular bread soft inside together and place them into the brown breadbasket.",
+    "Pick the bread with warm golden color and the bread loaf with square shape for the the brown breadbasket",
+    "Use the dual arm to place the bread with split top and the soft golden baked bread into the breadbasket with rounded edges.",
+    "Use both arms to move the smooth loaf with rounded edges, the bread with firm crust edges to the breadbasket with rounded edges.",
+    "Move the light brown loaf with smooth sides and the slice-shaped bread to the breadbasket with smooth woven texture",
+    "Lift the small loaf with curved top and the brown bread loaf at once with the dual arm, then set them in the woven rectangular breadbasket.",
+    "Lift the brown loaf and the golden bread with two arms, put in the medium woven breadbasket.",
+    "Grab both the soft brown bread and the bread loaf with square shape, drop into the smooth textured brown breadbasket.",
+    "Put the smooth loaf with rounded edges and the slice-shaped bread into the medium woven breadbasket using two arms.",
+    "Pick up both the small golden brown bread and the brown bread loaf, then place them in the breadbasket with smooth woven texture.",
+    "Place the brown loaf and the bread with golden surface color in the light brown basket for bread using the dual arm",
+    "Grab two breads the soft brown bread and the golden brown loaf-shaped bread and place in the medium woven breadbasket.",
+    "Use two arms and set the smooth loaf with rounded edges, the bread with rounded corners in the breadbasket with smooth woven texture.",
+    "Simultaneously grab the light brown bread with ridges and the bread with rounded corners using the dual arm, then drop them in the breadbasket with rounded edges.",
+    "Take the light brown bread with ridges and the golden bread, place them inside the smooth textured brown breadbasket.",
+    "Move the bread with golden-brown crust and the golden crusted bread slice at once into the brown breadbasket with rounded corners.",
+    "Take the bread with split top and the bread loaf with square shape to the light brown basket for bread",
+    "Shift the bread with golden-brown crust and the soft golden baked bread together to the smooth textured brown breadbasket.",
+    "Grab both the light brown loaf with smooth sides and the square loaf of bread with the dual arm and place in the medium woven breadbasket.",
+    "Simultaneously grab the light brown bread with ridges and the golden crusted bread slice, drop in the woven rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the smooth loaf with rounded edges and the golden brown loaf-shaped bread in the smooth textured brown breadbasket.",
+    "Pick the bread with golden-brown crust and the bread with golden surface color and set them in the light brown basket for bread.",
+    "Shift the small golden brown bread and the brown bread loaf into the breadbasket with wicker weave pattern",
+    "Pick the light brown bread with ridges and the rectangular bread soft inside, place them in the breadbasket with wicker weave pattern.",
+    "Take the light brown bread with ridges and the golden brown loaf-shaped bread then place in the medium woven breadbasket.",
+    "Grab the small golden brown bread and the golden brown loaf-shaped bread quickly and drop them into the breadbasket with wicker weave pattern.",
+    "Take the bread with warm golden color and the golden crusted bread slice together and place them into the woven rectangular breadbasket.",
+    "Pick the golden bread loaf and the golden bread for the the woven rectangular breadbasket",
+    "Use the dual arm to place the small loaf with curved top and the bread with firm crust edges into the medium woven breadbasket.",
+    "Use both arms to move the brown loaf, the bread with firm crust edges to the breadbasket with wicker weave pattern.",
+    "Move the light brown loaf with smooth sides and the rectangular bread soft inside to the light brown basket for bread",
+    "Lift the small loaf with curved top and the golden bread at once with the dual arm, then set them in the smooth textured brown breadbasket.",
+    "Lift the bread with warm golden color and the bread with golden surface color with two arms, put in the breadbasket with smooth woven texture.",
+    "Grab both the golden bread loaf and the rectangular bread soft inside, drop into the light brown wicker breadbasket.",
+    "Put the bread with split top and the golden crusted bread slice into the breadbasket with rounded edges using two arms.",
+    "Pick up both the soft brown bread and the bread with golden surface color, then place them in the breadbasket for holding bread."
+  ],
+  "unseen": [
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the rectangular breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop it into the rectangular breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop them into the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized with two arms, place in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and put them in the rectangular breadbasket.",
+    "Place the oval-shaped soft bread and the soft rectangular bread loaf into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the soft rectangular bread loaf, then place them in the rectangular breadbasket.",
+    "Use one arm to grab the rounded oval bread and the bread loaf medium-sized, drop in the rectangular light brown breadbasket.",
+    "Pick the rounded oval bread and the small loaf-shaped bread and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the oval bread and the small loaf-shaped bread and place in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop them into the rectangular light brown breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and put them in the rectangular breadbasket.",
+    "Place the oval bread and the soft rectangular bread loaf into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the medium light brown breadbasket.",
+    "Use one arm to grab the oval bread and the small loaf-shaped bread, drop in the rectangular light brown breadbasket.",
+    "Pick the rounded oval bread and the small loaf-shaped bread and place them in the medium light brown breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop them into the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and put them in the rectangular breadbasket.",
+    "Place the rounded oval bread and the soft rectangular bread loaf into the rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the bread loaf medium-sized, then place them in the rectangular breadbasket.",
+    "Use one arm to grab the oval bread and the bread loaf medium-sized, drop in the rectangular light brown breadbasket.",
+    "Pick the oval-shaped soft bread and the small loaf-shaped bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the rectangular light brown breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop it into the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and drop them into the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and put them in the rectangular breadbasket.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the rectangular light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the rectangular breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the soft rectangular bread loaf, drop in the medium light brown breadbasket.",
+    "Pick the oval bread and the small loaf-shaped bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the oval bread and the small loaf-shaped bread and place in the medium light brown breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and drop it into the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop them into the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf with two arms, place in the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and put them in the rectangular light brown breadbasket.",
+    "Place the oval-shaped soft bread and the bread loaf medium-sized into the rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval-shaped soft bread and the soft rectangular bread loaf, then place them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the medium light brown breadbasket.",
+    "Pick the oval-shaped soft bread and the soft rectangular bread loaf and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the small loaf-shaped bread and place in the medium light brown breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop it into the rectangular breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and drop them into the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf with two arms, place in the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and put them in the medium light brown breadbasket.",
+    "Place the oval-shaped soft bread and the soft rectangular bread loaf into the rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the medium light brown breadbasket.",
+    "Use one arm to grab the oval bread and the soft rectangular bread loaf, drop in the rectangular light brown breadbasket.",
+    "Pick the oval bread and the soft rectangular bread loaf and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the rectangular breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and drop it into the rectangular light brown breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and drop them into the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and put them in the rectangular breadbasket.",
+    "Place the oval-shaped soft bread and the bread loaf medium-sized into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the rounded oval bread and the soft rectangular bread loaf, drop in the rectangular light brown breadbasket.",
+    "Pick the oval bread and the small loaf-shaped bread and place them in the medium light brown breadbasket.",
+    "Use the dual arm to pick the oval bread and the small loaf-shaped bread and place in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop them into the rectangular breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf with two arms, place in the medium light brown breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and put them in the medium light brown breadbasket.",
+    "Place the oval bread and the soft rectangular bread loaf into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the medium light brown breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and the small loaf-shaped bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the small loaf-shaped bread and place in the rectangular breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop them into the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread with two arms, place in the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and put them in the rectangular breadbasket.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the bread loaf medium-sized, then place them in the rectangular breadbasket.",
+    "Use one arm to grab the rounded oval bread and the bread loaf medium-sized, drop in the rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and the soft rectangular bread loaf and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the rectangular light brown breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the rectangular breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop them into the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and put them in the rectangular breadbasket.",
+    "Place the rounded oval bread and the small loaf-shaped bread into the medium light brown breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the medium light brown breadbasket.",
+    "Use one arm to grab the oval bread and the small loaf-shaped bread, drop in the medium light brown breadbasket.",
+    "Pick the oval bread and the small loaf-shaped bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the oval bread and the small loaf-shaped bread and place in the medium light brown breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop them into the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized with two arms, place in the rectangular breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and put them in the rectangular light brown breadbasket.",
+    "Place the oval-shaped soft bread and the bread loaf medium-sized into the rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the rectangular breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the small loaf-shaped bread, drop in the rectangular light brown breadbasket.",
+    "Pick the rounded oval bread and the soft rectangular bread loaf and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the rectangular light brown breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode41.json b/place_bread_basket/demo_clean/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd5310bcd3742e57c47bd895229dae8a78d34fe3
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the hand-sized bread block and move it to the woven plastic breadbasket.",
+    "Drop the golden bread into the light brown breadbasket",
+    "Grab the golden bread, drop it into the synthetic material breadbasket.",
+    "Use the right arm to grab the square-shaped bread and drop it inside the smooth-textured breadbasket.",
+    "Grab the bread with rough texture with one hand and set it in the medium oval breadbasket.",
+    "Grab the bread block with light patches with the right arm and drop it in the synthetic material breadbasket.",
+    "Lift the hand-sized bread block and transfer to the oval breadbasket.",
+    "Grab the soft bread with an arm and set in the breadbasket for small food items.",
+    "Pick up the golden bread and drop it in the oval breadbasket.",
+    "Pick up the bread loaf with uneven edges and put it in the breadbasket for small food items.",
+    "Move the golden bread to the beige basket for holding bread using one arm.",
+    "Pick the cuboid bread and put it into the basket with light brown weaving.",
+    "Use the right arm to grab the light golden brown bread for the smooth-textured breadbasket",
+    "Lift the golden bread loaf and set it in the beige basket for holding bread.",
+    "Put the cuboid bread into the breadbasket with curved base after grabbing it.",
+    "Put the hand-sized bread block into the light brown breadbasket using an arm.",
+    "Grab the golden bread for the beige basket for holding bread with the right arm",
+    "Pick the bread block with light patches and move it to the light brown breadbasket.",
+    "Drop the bread loaf with uneven edges into the basket with light brown weaving",
+    "Grab the light golden brown bread, drop it into the beige basket for holding bread.",
+    "Use the right arm to grab the golden bread loaf and drop it inside the two-hand-sized breadbasket.",
+    "Grab the bread loaf with uneven edges with one hand and set it in the breadbasket with curved base.",
+    "Grab the cuboid bread with the right arm and drop it in the breadbasket with curved base.",
+    "Lift the bread with rough texture and transfer to the smooth-textured breadbasket.",
+    "Grab the bread loaf with bumpy surface with an arm and set in the light brown breadbasket.",
+    "Pick up the golden bread loaf and drop it in the two-hand-sized breadbasket.",
+    "Pick up the square-shaped bread and put it in the medium oval breadbasket.",
+    "Move the bread loaf with uneven edges to the medium oval breadbasket using one arm.",
+    "Pick the soft bread and put it into the oval basket for bread.",
+    "Use the right arm to grab the bread loaf with bumpy surface for the beige basket for holding bread",
+    "Lift the square-shaped bread and set it in the medium oval breadbasket.",
+    "Put the light golden brown bread into the two-hand-sized breadbasket after grabbing it.",
+    "Put the bread loaf with uneven edges into the breadbasket for small food items using an arm.",
+    "Grab the doughy and soft bread for the synthetic material breadbasket with the right arm",
+    "Pick the cuboid bread and move it to the medium oval breadbasket.",
+    "Drop the soft bread into the breadbasket with curved base",
+    "Grab the light golden brown bread, drop it into the medium oval breadbasket.",
+    "Use the right arm to grab the golden bread loaf and drop it inside the breadbasket with curved base.",
+    "Grab the bread loaf with bumpy surface with one hand and set it in the oval basket for bread.",
+    "Grab the golden bread with the right arm and drop it in the light brown breadbasket.",
+    "Lift the hand-sized bread block and transfer to the synthetic material breadbasket.",
+    "Grab the golden bread loaf with an arm and set in the synthetic material breadbasket.",
+    "Pick up the bread block with light patches and drop it in the basket with light brown weaving.",
+    "Pick up the bread loaf with bumpy surface and put it in the light brown breadbasket.",
+    "Move the cuboid bread to the oval breadbasket using one arm.",
+    "Pick the cuboid bread and put it into the oval breadbasket.",
+    "Use the right arm to grab the cuboid bread for the breadbasket for small food items",
+    "Lift the bread block with light patches and set it in the breadbasket for small food items.",
+    "Put the bread loaf with bumpy surface into the breadbasket for small food items after grabbing it.",
+    "Put the bread with rough texture into the woven plastic breadbasket using an arm.",
+    "Grab the golden bread for the breadbasket with curved base with the right arm",
+    "Pick the hand-sized bread block and move it to the medium oval breadbasket.",
+    "Drop the cuboid bread into the smooth-textured breadbasket",
+    "Grab the light golden brown bread, drop it into the basket with light brown weaving.",
+    "Use the right arm to grab the doughy and soft bread and drop it inside the smooth-textured breadbasket.",
+    "Grab the golden bread with one hand and set it in the oval breadbasket.",
+    "Grab the bread with rough texture with the right arm and drop it in the breadbasket for small food items.",
+    "Lift the light golden brown bread and transfer to the breadbasket for small food items.",
+    "Grab the light golden brown bread with an arm and set in the two-hand-sized breadbasket.",
+    "Pick up the bread block with light patches and drop it in the basket with light brown weaving.",
+    "Pick up the bread loaf with uneven edges and put it in the two-hand-sized breadbasket.",
+    "Move the square-shaped bread to the smooth-textured breadbasket using one arm.",
+    "Pick the bread loaf with bumpy surface and put it into the synthetic material breadbasket.",
+    "Use the right arm to grab the bread with rough texture for the synthetic material breadbasket",
+    "Lift the bread block with light patches and set it in the two-hand-sized breadbasket.",
+    "Put the light golden brown bread into the synthetic material breadbasket after grabbing it.",
+    "Put the soft bread into the light brown breadbasket using an arm.",
+    "Grab the soft bread for the oval basket for bread with the right arm",
+    "Pick the bread block with light patches and move it to the beige basket for holding bread.",
+    "Drop the light golden brown bread into the beige basket for holding bread",
+    "Grab the bread with rough texture, drop it into the oval basket for bread.",
+    "Use the right arm to grab the soft bread and drop it inside the woven plastic breadbasket.",
+    "Grab the square-shaped bread with one hand and set it in the breadbasket for small food items.",
+    "Grab the light golden brown bread with the right arm and drop it in the breadbasket for small food items.",
+    "Lift the hand-sized bread block and transfer to the beige basket for holding bread.",
+    "Grab the soft bread with an arm and set in the basket with light brown weaving.",
+    "Pick up the bread with rough texture and drop it in the oval breadbasket.",
+    "Pick up the square-shaped bread and put it in the beige basket for holding bread.",
+    "Move the golden bread loaf to the synthetic material breadbasket using one arm.",
+    "Pick the bread loaf with bumpy surface and put it into the medium oval breadbasket.",
+    "Use the right arm to grab the square-shaped bread for the breadbasket for small food items",
+    "Lift the bread with rough texture and set it in the synthetic material breadbasket.",
+    "Put the light golden brown bread into the smooth-textured breadbasket after grabbing it.",
+    "Put the bread loaf with uneven edges into the synthetic material breadbasket using an arm.",
+    "Grab the cuboid bread for the breadbasket with curved base with the right arm",
+    "Pick the bread block with light patches and move it to the basket with light brown weaving.",
+    "Drop the bread block with light patches into the breadbasket for small food items",
+    "Grab the golden bread, drop it into the synthetic material breadbasket.",
+    "Use the right arm to grab the bread block with light patches and drop it inside the woven plastic breadbasket.",
+    "Grab the golden bread with one hand and set it in the oval breadbasket.",
+    "Grab the bread block with light patches with the right arm and drop it in the smooth-textured breadbasket.",
+    "Lift the bread with rough texture and transfer to the breadbasket with curved base.",
+    "Grab the bread with rough texture with an arm and set in the woven plastic breadbasket.",
+    "Pick up the golden bread loaf and drop it in the two-hand-sized breadbasket.",
+    "Pick up the golden bread and put it in the beige basket for holding bread.",
+    "Move the square-shaped bread to the woven plastic breadbasket using one arm.",
+    "Pick the hand-sized bread block and put it into the breadbasket with curved base.",
+    "Use the right arm to grab the hand-sized bread block for the medium oval breadbasket",
+    "Lift the golden bread and set it in the beige basket for holding bread.",
+    "Put the hand-sized bread block into the woven plastic breadbasket after grabbing it."
+  ],
+  "unseen": [
+    "Place the rectangular bread loaf into the breadbasket with ridged texture using the right arm",
+    "Pick the bread with golden crust and place it in the beige breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Pick the bread with golden crust and drop it in the breadbasket with ridged texture",
+    "Grab the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf and put it in the beige breadbasket.",
+    "Place the rectangular bread loaf into the beige breadbasket using the right arm",
+    "Pick the bread loaf with soft surface and place it in the medium-sized breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the medium-sized breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the beige breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Pick the bread loaf with soft surface and drop it in the breadbasket with ridged texture",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with ridged texture.",
+    "Place the rectangular bread loaf into the medium-sized breadbasket using the right arm",
+    "Pick the rectangular bread loaf and place it in the medium-sized breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf with one arm, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Pick the rectangular bread loaf and drop it in the beige breadbasket",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and put it in the breadbasket with ridged texture.",
+    "Place the bread with golden crust into the beige breadbasket using the right arm",
+    "Pick the bread with golden crust and place it in the beige breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the medium-sized breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the beige breadbasket.",
+    "Grab the bread with golden crust and drop it into the beige breadbasket.",
+    "Pick the bread with golden crust and drop it in the breadbasket with ridged texture",
+    "Grab the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with ridged texture.",
+    "Place the bread loaf with soft surface into the breadbasket with ridged texture using the right arm",
+    "Pick the rectangular bread loaf and place it in the beige breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust with one arm, place in the medium-sized breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the beige breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Pick the bread loaf with soft surface and drop it in the breadbasket with ridged texture",
+    "Grab the rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and put it in the medium-sized breadbasket.",
+    "Place the bread loaf with soft surface into the medium-sized breadbasket using the right arm",
+    "Pick the bread with golden crust and place it in the breadbasket with ridged texture.",
+    "Use the right arm to pick the rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the medium-sized breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with ridged texture.",
+    "Pick the bread loaf with soft surface and drop it in the breadbasket with ridged texture",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and put it in the beige breadbasket.",
+    "Place the bread loaf with soft surface into the breadbasket with ridged texture using the right arm",
+    "Pick the bread with golden crust and place it in the beige breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf with one arm, place in the medium-sized breadbasket.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the beige breadbasket.",
+    "Grab the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Pick the bread with golden crust and drop it in the beige breadbasket",
+    "Grab the bread with golden crust and drop it into the beige breadbasket.",
+    "Grab the bread with golden crust and put it in the breadbasket with ridged texture.",
+    "Place the rectangular bread loaf into the beige breadbasket using the right arm",
+    "Pick the rectangular bread loaf and place it in the medium-sized breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the medium-sized breadbasket.",
+    "Use one arm to grab the bread with golden crust, drop in the beige breadbasket.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the beige breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Pick the bread with golden crust and drop it in the medium-sized breadbasket",
+    "Grab the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf and put it in the beige breadbasket.",
+    "Place the bread with golden crust into the beige breadbasket using the right arm",
+    "Pick the bread loaf with soft surface and place it in the medium-sized breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the beige breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Pick the bread with golden crust and drop it in the beige breadbasket",
+    "Grab the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and put it in the medium-sized breadbasket.",
+    "Place the rectangular bread loaf into the beige breadbasket using the right arm",
+    "Pick the bread with golden crust and place it in the medium-sized breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the medium-sized breadbasket.",
+    "Pick the bread with golden crust and drop it in the breadbasket with ridged texture",
+    "Grab the bread loaf with soft surface and drop it into the medium-sized breadbasket.",
+    "Grab the bread with golden crust and put it in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode42.json b/place_bread_basket/demo_clean/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b13fdbfc1263474ad8576b076920f73dcc72f7
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the rounded square loaf and the sponge-textured golden bread, place them inside the beige basket with white grid design.",
+    "Lift the square-shaped bread piece and the square-shaped bread piece with two arms, put in the basket for carrying bread beige.",
+    "Place the rounded square loaf and the medium bread with rounded sides in the white oval breadbasket using the dual arm",
+    "Pick the soft square bread and the golden brown bread for the the smooth textured breadbasket",
+    "Simultaneously grab the golden brown bread and the bread with rounded edges, drop in the smooth textured breadbasket.",
+    "Take the medium bread with rounded sides and the sponge-textured golden bread together and place them into the basket for bread beige plastic.",
+    "Grab the medium bread with rounded sides and the sponge-textured golden bread quickly and drop them into the white oval breadbasket.",
+    "Pick up both the golden brown bread and the square-shaped bread piece, then place them in the medium plastic breadbasket oval shape.",
+    "Shift the bread with soft texture and the rounded square loaf together to the white oval breadbasket.",
+    "Take the sponge-textured golden bread and the sponge-textured golden bread to the smooth textured breadbasket",
+    "Grab both the sponge-textured golden bread and the sponge-textured golden bread, drop into the medium breadbasket with perforated sides.",
+    "Use the dual arm to place the soft square bread and the golden baked bread into the medium oval basket for bread.",
+    "Use two arms and set the fluffy baked bread, the square-shaped bread piece in the beige plastic breadbasket.",
+    "Lift the light brown porous bread and the square-shaped bread piece at once with the dual arm, then set them in the beige basket with white grid design.",
+    "Grab both the rounded square loaf and the rounded square loaf with the dual arm and place in the beige basket with white grid design.",
+    "Simultaneously grab the fluffy baked bread and the rounded square loaf using the dual arm, then drop them in the beige plastic breadbasket.",
+    "Shift the medium-sized bread piece and the golden baked bread into the basket for carrying bread beige",
+    "Move the soft square bread and the rounded square loaf at once into the medium breadbasket with perforated sides.",
+    "Move the fluffy baked bread and the fluffy baked bread to the basket for bread beige plastic",
+    "Pick the bread with rounded edges and the bread with rounded edges and set them in the oval-shaped breadbasket.",
+    "Take the bread with soft texture and the sponge-textured golden bread then place in the beige basket with white grid design.",
+    "Use both arms to move the square-shaped bread piece, the medium-sized bread piece to the oval perforated breadbasket white edges.",
+    "Put the medium-sized bread piece and the golden brown bread into the medium breadbasket with perforated sides using two arms.",
+    "Grab two breads the rounded square loaf and the medium bread with rounded sides and place in the oval perforated breadbasket white edges.",
+    "Pick the rounded square loaf and the medium bread with rounded sides, place them in the oval perforated breadbasket white edges.",
+    "Simultaneously use the dual arm to drop the light brown porous bread and the sponge-textured golden bread in the medium oval basket for bread.",
+    "Take the sponge-textured golden bread and the sponge-textured golden bread, place them inside the oval perforated breadbasket white edges.",
+    "Lift the medium bread with rounded sides and the light brown porous bread with two arms, put in the oval-shaped breadbasket.",
+    "Place the rounded square loaf and the light brown porous bread in the medium plastic breadbasket oval shape using the dual arm",
+    "Pick the medium bread with rounded sides and the medium bread with rounded sides for the the beige plastic breadbasket",
+    "Simultaneously grab the rounded square loaf and the medium-sized bread piece, drop in the white oval breadbasket.",
+    "Take the medium bread with rounded sides and the square-shaped bread piece together and place them into the medium oval basket for bread.",
+    "Grab the medium bread with rounded sides and the medium-sized bread piece quickly and drop them into the oval perforated breadbasket white edges.",
+    "Pick up both the square-shaped bread piece and the rounded square loaf, then place them in the oval-shaped breadbasket.",
+    "Shift the bread with soft texture and the golden baked bread together to the white oval breadbasket.",
+    "Take the light brown porous bread and the medium-sized bread piece to the medium plastic breadbasket oval shape",
+    "Grab both the square-shaped bread piece and the bread with rounded edges, drop into the smooth textured breadbasket.",
+    "Use the dual arm to place the bread with soft texture and the golden brown bread into the medium plastic breadbasket oval shape.",
+    "Use two arms and set the light brown porous bread, the square-shaped bread piece in the medium plastic breadbasket oval shape.",
+    "Lift the fluffy baked bread and the light brown porous bread at once with the dual arm, then set them in the basket for carrying bread beige.",
+    "Grab both the fluffy baked bread and the medium bread with rounded sides with the dual arm and place in the beige plastic breadbasket.",
+    "Simultaneously grab the medium bread with rounded sides and the golden brown bread using the dual arm, then drop them in the basket for bread beige plastic.",
+    "Shift the sponge-textured golden bread and the soft square bread into the white oval breadbasket",
+    "Move the bread with rounded edges and the medium bread with rounded sides at once into the basket for bread beige plastic.",
+    "Move the bread with soft texture and the soft square bread to the medium oval basket for bread",
+    "Pick the golden baked bread and the golden baked bread and set them in the basket for bread beige plastic.",
+    "Take the bread with soft texture and the bread with rounded edges then place in the beige breadbasket.",
+    "Use both arms to move the bread with soft texture, the medium bread with rounded sides to the beige plastic breadbasket.",
+    "Put the medium-sized bread piece and the golden brown bread into the beige breadbasket using two arms.",
+    "Grab two breads the square-shaped bread piece and the bread with soft texture and place in the medium plastic breadbasket oval shape.",
+    "Pick the square-shaped bread piece and the bread with rounded edges, place them in the smooth textured breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with soft texture and the square-shaped bread piece in the oval-shaped breadbasket.",
+    "Take the light brown porous bread and the medium bread with rounded sides, place them inside the oval perforated breadbasket white edges.",
+    "Lift the soft square bread and the bread with soft texture with two arms, put in the medium oval basket for bread.",
+    "Place the fluffy baked bread and the medium-sized bread piece in the basket for bread beige plastic using the dual arm",
+    "Pick the medium bread with rounded sides and the golden brown bread for the the medium plastic breadbasket oval shape",
+    "Simultaneously grab the sponge-textured golden bread and the bread with rounded edges, drop in the beige basket with white grid design.",
+    "Take the fluffy baked bread and the golden brown bread together and place them into the oval-shaped breadbasket.",
+    "Grab the soft square bread and the bread with soft texture quickly and drop them into the oval perforated breadbasket white edges.",
+    "Pick up both the golden brown bread and the golden baked bread, then place them in the beige basket with white grid design.",
+    "Shift the golden baked bread and the bread with rounded edges together to the medium plastic breadbasket oval shape.",
+    "Take the square-shaped bread piece and the medium-sized bread piece to the medium plastic breadbasket oval shape",
+    "Grab both the fluffy baked bread and the fluffy baked bread, drop into the beige plastic breadbasket.",
+    "Use the dual arm to place the bread with soft texture and the medium-sized bread piece into the oval perforated breadbasket white edges.",
+    "Use two arms and set the medium-sized bread piece, the bread with soft texture in the basket for carrying bread beige.",
+    "Lift the golden brown bread and the bread with soft texture at once with the dual arm, then set them in the beige breadbasket.",
+    "Grab both the bread with rounded edges and the soft square bread with the dual arm and place in the white oval breadbasket.",
+    "Simultaneously grab the soft square bread and the medium-sized bread piece using the dual arm, then drop them in the beige basket with white grid design.",
+    "Shift the rounded square loaf and the light brown porous bread into the beige plastic breadbasket",
+    "Move the medium-sized bread piece and the light brown porous bread at once into the basket for carrying bread beige.",
+    "Move the medium bread with rounded sides and the light brown porous bread to the medium breadbasket with perforated sides",
+    "Pick the light brown porous bread and the medium-sized bread piece and set them in the basket for carrying bread beige.",
+    "Take the fluffy baked bread and the fluffy baked bread then place in the oval perforated breadbasket white edges.",
+    "Use both arms to move the medium-sized bread piece, the bread with rounded edges to the basket for bread beige plastic.",
+    "Put the rounded square loaf and the square-shaped bread piece into the beige basket with white grid design using two arms.",
+    "Grab two breads the bread with rounded edges and the light brown porous bread and place in the beige plastic breadbasket.",
+    "Pick the bread with rounded edges and the sponge-textured golden bread, place them in the oval perforated breadbasket white edges.",
+    "Simultaneously use the dual arm to drop the rounded square loaf and the bread with rounded edges in the beige plastic breadbasket.",
+    "Take the soft square bread and the golden brown bread, place them inside the medium breadbasket with perforated sides.",
+    "Lift the sponge-textured golden bread and the golden brown bread with two arms, put in the basket for bread beige plastic.",
+    "Place the light brown porous bread and the bread with soft texture in the medium oval basket for bread using the dual arm",
+    "Pick the medium bread with rounded sides and the bread with rounded edges for the the oval-shaped breadbasket",
+    "Simultaneously grab the bread with rounded edges and the soft square bread, drop in the beige plastic breadbasket.",
+    "Take the sponge-textured golden bread and the light brown porous bread together and place them into the medium breadbasket with perforated sides.",
+    "Grab the medium bread with rounded sides and the square-shaped bread piece quickly and drop them into the medium oval basket for bread.",
+    "Pick up both the light brown porous bread and the bread with soft texture, then place them in the smooth textured breadbasket.",
+    "Shift the golden baked bread and the golden baked bread together to the medium plastic breadbasket oval shape.",
+    "Take the bread with rounded edges and the light brown porous bread to the white oval breadbasket",
+    "Grab both the medium-sized bread piece and the light brown porous bread, drop into the smooth textured breadbasket.",
+    "Use the dual arm to place the soft square bread and the light brown porous bread into the medium breadbasket with perforated sides.",
+    "Use two arms and set the medium-sized bread piece, the rounded square loaf in the medium breadbasket with perforated sides.",
+    "Lift the soft square bread and the light brown porous bread at once with the dual arm, then set them in the medium oval basket for bread.",
+    "Grab both the rounded square loaf and the bread with rounded edges with the dual arm and place in the basket for carrying bread beige.",
+    "Simultaneously grab the golden brown bread and the sponge-textured golden bread using the dual arm, then drop them in the oval-shaped breadbasket.",
+    "Shift the soft square bread and the rounded square loaf into the white oval breadbasket",
+    "Move the golden baked bread and the soft square bread at once into the beige breadbasket.",
+    "Move the square-shaped bread piece and the golden brown bread to the basket for bread beige plastic",
+    "Pick the bread with soft texture and the medium-sized bread piece and set them in the beige breadbasket.",
+    "Take the bread with rounded edges and the medium bread with rounded sides then place in the beige breadbasket.",
+    "Use both arms to move the medium-sized bread piece, the fluffy baked bread to the oval perforated breadbasket white edges."
+  ],
+  "unseen": [
+    "Use the dual arm to pick up the spongy golden brown bread and the square bread with light spots, then place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the soft bread with golden edges and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Place the square bread with light spots and the square bread with light spots into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the square bread with light spots and the square bread with light spots and drop them into the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Pick the soft bread with golden edges and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the spongy golden brown bread and the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the spongy golden brown bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the square bread with light spots and the soft bread with golden edges, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the spongy golden brown bread and the square bread with light spots and place in the white basket with beige bottom.",
+    "Place the spongy golden brown bread and the square bread with light spots into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and the square bread with light spots and place them in the white basket with beige bottom.",
+    "Use one arm to grab the square bread with light spots and the square bread with light spots, drop in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the spongy golden brown bread and the square bread with light spots, then place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the spongy golden brown bread and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Place the spongy golden brown bread and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop them into the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the square bread with light spots with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the square bread with light spots and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the spongy golden brown bread and the spongy golden brown bread, drop in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the spongy golden brown bread and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the soft bread with golden edges and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Place the square bread with light spots and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the square bread with light spots and the soft bread with golden edges and drop them into the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the spongy golden brown bread and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the spongy golden brown bread and the spongy golden brown bread, drop in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the square bread with light spots and the square bread with light spots, then place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the spongy golden brown bread and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Place the spongy golden brown bread and the square bread with light spots into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop them into the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Pick the square bread with light spots and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft bread with golden edges and the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the square bread with light spots and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the spongy golden brown bread and the soft bread with golden edges, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the soft bread with golden edges and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Place the soft bread with golden edges and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the square bread with light spots and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the spongy golden brown bread and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the square bread with light spots and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the square bread with light spots and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the spongy golden brown bread and the spongy golden brown bread, then place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the soft bread with golden edges and the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Place the spongy golden brown bread and the square bread with light spots into the white basket with beige bottom using the dual arm",
+    "Grab the square bread with light spots and the square bread with light spots and drop them into the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Pick the square bread with light spots and the square bread with light spots and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the square bread with light spots and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and the square bread with light spots and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the soft bread with golden edges and the square bread with light spots, then place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the spongy golden brown bread and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Place the soft bread with golden edges and the spongy golden brown bread into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop them into the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the square bread with light spots with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the spongy golden brown bread and the square bread with light spots and place them in the white basket with beige bottom.",
+    "Use one arm to grab the soft bread with golden edges and the square bread with light spots, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the square bread with light spots and the square bread with light spots, then place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the square bread with light spots and the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Place the spongy golden brown bread and the spongy golden brown bread into the white basket with beige bottom using the dual arm",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the spongy golden brown bread with two arms, place in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the spongy golden brown bread and the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the square bread with light spots and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Use the dual arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the breadbasket with smooth bottom grid sides.",
+    "Place the soft bread with golden edges and the spongy golden brown bread into the white basket with beige bottom using the dual arm",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and the square bread with light spots and place them in the white basket with beige bottom.",
+    "Use one arm to grab the spongy golden brown bread and the soft bread with golden edges, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the soft bread with golden edges and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the soft bread with golden edges and the square bread with light spots and place in the white basket with beige bottom.",
+    "Place the square bread with light spots and the square bread with light spots into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the soft bread with golden edges and the soft bread with golden edges and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the spongy golden brown bread and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the soft bread with golden edges and the spongy golden brown bread, then place them in the white basket with beige bottom."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode43.json b/place_bread_basket/demo_clean/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e87162e22ce93428d5834e98859a60531f9c020
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the golden bread and the fluffy baked bread quickly and drop them into the wooden breadbasket.",
+    "Pick up both the golden bread and the bread with rounded edges, then place them in the breadbasket for baking.",
+    "Simultaneously grab the bread with golden surface color and the light brown porous bread, drop in the breadbasket with flat base.",
+    "Put the soft golden baked bread and the bread with soft texture into the breadbasket for baking using two arms.",
+    "Move the bread loaf with square shape and the soft square bread at once into the spiral ridged breadbasket.",
+    "Take the slice-shaped bread and the light brown porous bread then place in the smooth beige breadbasket.",
+    "Shift the brown bread loaf and the fluffy baked bread into the wooden breadbasket",
+    "Use the right arm to place the soft golden baked bread and the light brown porous bread into the breadbasket for dough.",
+    "Simultaneously use the right arm to drop the bread with rounded corners and the fluffy baked bread in the wooden breadbasket.",
+    "Grab both the soft golden baked bread and the golden baked bread with the right arm and place in the breadbasket for dough.",
+    "Pick the bread loaf with square shape and the golden baked bread, place them in the breadbasket shaped like a bowl.",
+    "Use both arms to move the golden crusted bread slice, the medium-sized bread piece to the breadbasket shaped like a bowl.",
+    "Move the brown bread loaf and the light brown porous bread to the breadbasket with spiral lines",
+    "Place the bread with rounded corners and the bread with soft texture in the palm-sized breadbasket using the right arm",
+    "Lift the square loaf of bread and the bread with soft texture at once with the right arm, then set them in the spiral ridged breadbasket.",
+    "Shift the square loaf of bread and the medium bread with rounded sides together to the round breadbasket.",
+    "Use two arms and set the slice-shaped bread, the rounded square loaf in the round breadbasket.",
+    "Take the bread with firm crust edges and the soft square bread, place them inside the breadbasket for baking.",
+    "Simultaneously grab the bread loaf with square shape and the medium-sized bread piece using the right arm, then drop them in the breadbasket with flat base.",
+    "Grab both the bread with golden surface color and the sponge-textured golden bread, drop into the wooden breadbasket.",
+    "Grab two breads the golden crusted bread slice and the bread with soft texture and place in the breadbasket with flat base.",
+    "Lift the rectangular bread soft inside and the soft square bread with two arms, put in the medium breadbasket.",
+    "Take the golden brown loaf-shaped bread and the soft square bread to the wooden breadbasket",
+    "Pick the golden brown loaf-shaped bread and the golden baked bread and set them in the breadbasket with flat base.",
+    "Take the golden brown loaf-shaped bread and the medium bread with rounded sides together and place them into the spiral ridged breadbasket.",
+    "Pick the rectangular bread soft inside and the bread with soft texture for the the wooden breadbasket",
+    "Grab the bread with firm crust edges and the fluffy baked bread quickly and drop them into the medium breadbasket.",
+    "Pick up both the square loaf of bread and the medium bread with rounded sides, then place them in the wooden breadbasket.",
+    "Simultaneously grab the rectangular bread soft inside and the golden brown bread, drop in the wooden breadbasket.",
+    "Put the golden brown loaf-shaped bread and the golden brown bread into the smooth beige breadbasket using two arms.",
+    "Move the bread with rounded corners and the fluffy baked bread at once into the palm-sized breadbasket.",
+    "Take the golden brown loaf-shaped bread and the square-shaped bread piece then place in the breadbasket shaped like a bowl.",
+    "Shift the slice-shaped bread and the sponge-textured golden bread into the palm-sized breadbasket",
+    "Use the right arm to place the bread loaf with square shape and the medium-sized bread piece into the breadbasket shaped like a bowl.",
+    "Simultaneously use the right arm to drop the bread with golden surface color and the bread with soft texture in the breadbasket shaped like a bowl.",
+    "Grab both the square loaf of bread and the square-shaped bread piece with the right arm and place in the wooden breadbasket.",
+    "Pick the brown bread loaf and the light brown porous bread, place them in the spiral ridged breadbasket.",
+    "Use both arms to move the brown bread loaf, the rounded square loaf to the breadbasket with spiral lines.",
+    "Move the slice-shaped bread and the golden brown bread to the round breadbasket",
+    "Place the square loaf of bread and the golden baked bread in the medium breadbasket using the right arm",
+    "Lift the brown bread loaf and the golden baked bread at once with the right arm, then set them in the medium breadbasket.",
+    "Shift the bread with golden surface color and the light brown porous bread together to the medium breadbasket.",
+    "Use two arms and set the slice-shaped bread, the soft square bread in the smooth beige breadbasket.",
+    "Take the bread with golden surface color and the fluffy baked bread, place them inside the breadbasket shaped like a bowl.",
+    "Simultaneously grab the golden bread and the sponge-textured golden bread using the right arm, then drop them in the breadbasket for dough.",
+    "Grab both the golden crusted bread slice and the soft square bread, drop into the breadbasket for dough.",
+    "Grab two breads the brown bread loaf and the bread with soft texture and place in the breadbasket made of woven wood.",
+    "Lift the brown bread loaf and the golden baked bread with two arms, put in the palm-sized breadbasket.",
+    "Take the bread loaf with square shape and the golden baked bread to the round breadbasket",
+    "Pick the golden brown loaf-shaped bread and the bread with soft texture and set them in the breadbasket for dough.",
+    "Take the golden bread and the fluffy baked bread together and place them into the smooth beige breadbasket.",
+    "Pick the square loaf of bread and the golden baked bread for the the wooden breadbasket",
+    "Grab the brown bread loaf and the sponge-textured golden bread quickly and drop them into the round breadbasket.",
+    "Pick up both the golden bread and the fluffy baked bread, then place them in the wooden breadbasket.",
+    "Simultaneously grab the slice-shaped bread and the golden baked bread, drop in the breadbasket with flat base.",
+    "Put the slice-shaped bread and the rounded square loaf into the breadbasket shaped like a bowl using two arms.",
+    "Move the bread with golden surface color and the square-shaped bread piece at once into the medium breadbasket.",
+    "Take the brown bread loaf and the bread with soft texture then place in the palm-sized breadbasket.",
+    "Shift the bread with firm crust edges and the rounded square loaf into the breadbasket with flat base",
+    "Use the right arm to place the bread loaf with square shape and the medium-sized bread piece into the wooden breadbasket.",
+    "Simultaneously use the right arm to drop the bread with firm crust edges and the soft square bread in the breadbasket made of woven wood.",
+    "Grab both the square loaf of bread and the golden brown bread with the right arm and place in the spiral ridged breadbasket.",
+    "Pick the golden crusted bread slice and the medium-sized bread piece, place them in the smooth beige breadbasket.",
+    "Use both arms to move the golden bread, the fluffy baked bread to the round breadbasket.",
+    "Move the bread loaf with square shape and the light brown porous bread to the smooth beige breadbasket",
+    "Place the rectangular bread soft inside and the bread with rounded edges in the breadbasket for dough using the right arm",
+    "Lift the bread with rounded corners and the medium-sized bread piece at once with the right arm, then set them in the breadbasket made of woven wood.",
+    "Shift the bread with firm crust edges and the golden brown bread together to the breadbasket with flat base.",
+    "Use two arms and set the bread with rounded corners, the golden baked bread in the breadbasket for dough.",
+    "Take the golden crusted bread slice and the medium-sized bread piece, place them inside the breadbasket made of woven wood.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the soft square bread using the right arm, then drop them in the breadbasket for baking.",
+    "Grab both the golden brown loaf-shaped bread and the bread with soft texture, drop into the wooden breadbasket.",
+    "Grab two breads the bread loaf with square shape and the golden brown bread and place in the wooden breadbasket.",
+    "Lift the bread with golden surface color and the medium bread with rounded sides with two arms, put in the palm-sized breadbasket.",
+    "Take the bread with golden surface color and the rounded square loaf to the breadbasket shaped like a bowl",
+    "Pick the rectangular bread soft inside and the medium bread with rounded sides and set them in the palm-sized breadbasket.",
+    "Take the bread with rounded corners and the bread with rounded edges together and place them into the breadbasket with spiral lines.",
+    "Pick the bread loaf with square shape and the golden baked bread for the the wooden breadbasket",
+    "Grab the golden bread and the fluffy baked bread quickly and drop them into the round breadbasket.",
+    "Pick up both the bread with firm crust edges and the bread with soft texture, then place them in the smooth beige breadbasket.",
+    "Simultaneously grab the golden crusted bread slice and the square-shaped bread piece, drop in the palm-sized breadbasket.",
+    "Put the bread with golden surface color and the square-shaped bread piece into the breadbasket for dough using two arms.",
+    "Move the golden brown loaf-shaped bread and the medium-sized bread piece at once into the breadbasket with flat base.",
+    "Take the bread with golden surface color and the fluffy baked bread then place in the medium breadbasket.",
+    "Shift the bread loaf with square shape and the sponge-textured golden bread into the breadbasket for dough",
+    "Use the right arm to place the brown bread loaf and the bread with soft texture into the breadbasket shaped like a bowl.",
+    "Simultaneously use the right arm to drop the bread with firm crust edges and the light brown porous bread in the medium breadbasket.",
+    "Grab both the square loaf of bread and the bread with soft texture with the right arm and place in the breadbasket made of woven wood.",
+    "Pick the golden brown loaf-shaped bread and the light brown porous bread, place them in the breadbasket for baking.",
+    "Use both arms to move the bread with firm crust edges, the soft square bread to the palm-sized breadbasket.",
+    "Move the bread loaf with square shape and the fluffy baked bread to the wooden breadbasket",
+    "Place the brown bread loaf and the soft square bread in the breadbasket for baking using the right arm",
+    "Lift the golden bread and the golden baked bread at once with the right arm, then set them in the palm-sized breadbasket.",
+    "Shift the rectangular bread soft inside and the bread with rounded edges together to the wooden breadbasket.",
+    "Use two arms and set the rectangular bread soft inside, the soft square bread in the round breadbasket.",
+    "Take the golden crusted bread slice and the medium bread with rounded sides, place them inside the round breadbasket.",
+    "Simultaneously grab the rectangular bread soft inside and the golden brown bread using the right arm, then drop them in the breadbasket for baking.",
+    "Grab both the slice-shaped bread and the sponge-textured golden bread, drop into the spiral ridged breadbasket.",
+    "Grab two breads the bread with rounded corners and the sponge-textured golden bread and place in the breadbasket with spiral lines.",
+    "Lift the golden bread and the soft square bread with two arms, put in the breadbasket for dough."
+  ],
+  "unseen": [
+    "Use the right arm to pick the soft rectangular bread loaf and the square bread with light spots and place in the round beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots and drop them into the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and drop it into the light wooden breadbasket.",
+    "Pick the bread loaf medium-sized and the square bread with light spots and place them in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and put them in the round beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the soft bread with golden edges, then place them in the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread with two arms, place in the round beige breadbasket.",
+    "Place the small loaf-shaped bread and the square bread with light spots into the round beige breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the soft bread with golden edges and place in the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the square bread with light spots, drop in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread and drop them into the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread and drop it into the round beige breadbasket.",
+    "Pick the bread loaf medium-sized and the square bread with light spots and place them in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and put them in the round beige breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the soft bread with golden edges, then place them in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots with two arms, place in the light wooden breadbasket.",
+    "Place the soft rectangular bread loaf and the spongy golden brown bread into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the soft bread with golden edges and place in the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the spongy golden brown bread, drop in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and drop them into the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the spongy golden brown bread and place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and put them in the light wooden breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the soft bread with golden edges, then place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges with two arms, place in the light wooden breadbasket.",
+    "Place the small loaf-shaped bread and the soft bread with golden edges into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the spongy golden brown bread and place in the round beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the square bread with light spots, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and drop them into the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread and drop it into the light wooden breadbasket.",
+    "Pick the bread loaf medium-sized and the square bread with light spots and place them in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and put them in the beige breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the square bread with light spots, then place them in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges with two arms, place in the round beige breadbasket.",
+    "Place the small loaf-shaped bread and the soft bread with golden edges into the beige breadbasket using the right arm",
+    "Use the right arm to pick the bread loaf medium-sized and the spongy golden brown bread and place in the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and drop them into the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the spongy golden brown bread and place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and put them in the light wooden breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the spongy golden brown bread, then place them in the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots with two arms, place in the light wooden breadbasket.",
+    "Place the bread loaf medium-sized and the square bread with light spots into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the square bread with light spots and place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots and drop them into the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread and drop it into the light wooden breadbasket.",
+    "Pick the soft rectangular bread loaf and the spongy golden brown bread and place them in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots with two arms, place in the round beige breadbasket.",
+    "Place the small loaf-shaped bread and the soft bread with golden edges into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the soft bread with golden edges and place in the light wooden breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the spongy golden brown bread and drop them into the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the square bread with light spots and place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread and put them in the round beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the spongy golden brown bread, then place them in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the spongy golden brown bread with two arms, place in the round beige breadbasket.",
+    "Place the small loaf-shaped bread and the spongy golden brown bread into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the soft bread with golden edges and place in the round beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the spongy golden brown bread, drop in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and drop them into the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots and drop it into the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the soft bread with golden edges and place them in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and put them in the beige breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the soft bread with golden edges, then place them in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges with two arms, place in the beige breadbasket.",
+    "Place the soft rectangular bread loaf and the square bread with light spots into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the spongy golden brown bread and place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots and drop them into the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and drop it into the round beige breadbasket.",
+    "Pick the bread loaf medium-sized and the square bread with light spots and place them in the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and put them in the light wooden breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots with two arms, place in the light wooden breadbasket.",
+    "Place the soft rectangular bread loaf and the square bread with light spots into the round beige breadbasket using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the spongy golden brown bread and place in the light wooden breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the soft bread with golden edges, drop in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots and drop them into the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and drop it into the round beige breadbasket.",
+    "Pick the bread loaf medium-sized and the spongy golden brown bread and place them in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and put them in the light wooden breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the soft bread with golden edges, then place them in the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges with two arms, place in the light wooden breadbasket.",
+    "Place the bread loaf medium-sized and the soft bread with golden edges into the round beige breadbasket using the right arm",
+    "Use the right arm to pick the bread loaf medium-sized and the spongy golden brown bread and place in the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the soft bread with golden edges, drop in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and drop them into the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and drop it into the light wooden breadbasket.",
+    "Pick the soft rectangular bread loaf and the square bread with light spots and place them in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and put them in the light wooden breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the square bread with light spots, then place them in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots with two arms, place in the round beige breadbasket.",
+    "Place the bread loaf medium-sized and the soft bread with golden edges into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the spongy golden brown bread and place in the round beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode44.json b/place_bread_basket/demo_clean/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a3db53047c529a1b6f8a497383cb9873140661f
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the small golden baked bread and the cuboid bread to the breadbasket for bread storage",
+    "Take the small golden baked bread and the bread loaf with bumpy surface, place them inside the medium rectangular breadbasket.",
+    "Place the round bread with braided top and the bread loaf with uneven edges in the plastic breadbasket with mesh sides using the dual arm",
+    "Use two arms and set the smooth crusty small bread, the bread with rough texture in the textured beige breadbasket.",
+    "Grab both the bread with golden crust and the hand-sized bread block with the dual arm and place in the breadbasket with textured sides.",
+    "Grab both the braided bread loaf and the bread block with light patches, drop into the breadbasket with textured sides.",
+    "Shift the round bread with braided top and the soft bread together to the breadbasket with textured sides.",
+    "Pick the soft golden bread and the hand-sized bread block and set them in the plastic mesh breadbasket.",
+    "Pick the bread with golden crust and the hand-sized bread block for the the beige breadbasket",
+    "Take the golden bread loaf with soft inside and the light golden brown bread to the woven light beige breadbasket",
+    "Move the round bread with braided top and the bread loaf with bumpy surface at once into the medium rectangular breadbasket.",
+    "Grab two breads the small golden baked bread and the golden bread and place in the beige breadbasket.",
+    "Use the dual arm to place the smooth crusty small bread and the bread with rough texture into the breadbasket for bread storage.",
+    "Pick the smooth crusty small bread and the bread loaf with uneven edges, place them in the light beige rectangular breadbasket.",
+    "Lift the golden brown bread with braided design and the doughy and soft bread with two arms, put in the beige breadbasket.",
+    "Take the golden bread loaf with soft inside and the square-shaped bread together and place them into the breadbasket for bread storage.",
+    "Simultaneously use the dual arm to drop the soft doughy bread and the cuboid bread in the textured beige breadbasket.",
+    "Simultaneously grab the small bread and the bread block with light patches using the dual arm, then drop them in the textured beige breadbasket.",
+    "Take the golden brown bread and the cuboid bread then place in the light beige rectangular breadbasket.",
+    "Shift the soft golden bread and the square-shaped bread into the textured beige breadbasket",
+    "Grab the braided bread loaf and the golden bread quickly and drop them into the light and textured breadbasket.",
+    "Pick up both the round bread with crusty texture and the bread loaf with uneven edges, then place them in the plastic breadbasket with mesh sides.",
+    "Use both arms to move the round bread with crusty texture, the bread loaf with bumpy surface to the plastic mesh breadbasket.",
+    "Put the round bread with crusty texture and the light golden brown bread into the beige breadbasket using two arms.",
+    "Simultaneously grab the round bread with braided top and the bread loaf with bumpy surface, drop in the plastic breadbasket with mesh sides.",
+    "Lift the round bread with crusty texture and the cuboid bread at once with the dual arm, then set them in the rectangular breadbasket.",
+    "Move the small golden baked bread and the soft bread to the beige breadbasket for holding bread",
+    "Take the smooth crusty small bread and the bread block with light patches, place them inside the light beige rectangular breadbasket.",
+    "Place the golden brown bread with braided design and the square-shaped bread in the breadbasket for bread storage using the dual arm",
+    "Use two arms and set the smooth crusty small bread, the cuboid bread in the plastic breadbasket with mesh sides.",
+    "Grab both the round bread with crusty texture and the golden bread loaf with the dual arm and place in the textured beige breadbasket.",
+    "Grab both the golden brown bread with braided design and the light golden brown bread, drop into the plastic breadbasket with mesh sides.",
+    "Shift the smooth crusty small bread and the soft bread together to the medium rectangular breadbasket.",
+    "Pick the small golden baked bread and the light golden brown bread and set them in the breadbasket with textured sides.",
+    "Pick the small bread and the bread block with light patches for the the plastic mesh breadbasket",
+    "Take the golden brown bread with braided design and the square-shaped bread to the plastic mesh breadbasket",
+    "Move the braided bread loaf and the golden bread loaf at once into the beige breadbasket.",
+    "Grab two breads the small golden baked bread and the cuboid bread and place in the medium rectangular breadbasket.",
+    "Use the dual arm to place the smooth crusty small bread and the soft bread into the plastic breadbasket with mesh sides.",
+    "Pick the soft golden bread and the soft bread, place them in the medium rectangular breadbasket.",
+    "Lift the bread with golden crust and the square-shaped bread with two arms, put in the medium rectangular breadbasket.",
+    "Take the golden bread loaf with soft inside and the golden bread loaf together and place them into the woven light beige breadbasket.",
+    "Simultaneously use the dual arm to drop the soft doughy bread and the bread loaf with uneven edges in the rectangular breadbasket.",
+    "Simultaneously grab the bread with golden crust and the cuboid bread using the dual arm, then drop them in the breadbasket for bread storage.",
+    "Take the braided bread loaf and the light golden brown bread then place in the plastic breadbasket with mesh sides.",
+    "Shift the round bread with crusty texture and the hand-sized bread block into the breadbasket for bread storage",
+    "Grab the small bread and the bread with rough texture quickly and drop them into the plastic breadbasket with mesh sides.",
+    "Pick up both the round bread with crusty texture and the cuboid bread, then place them in the textured beige breadbasket.",
+    "Use both arms to move the golden bread loaf with soft inside, the bread block with light patches to the light and textured breadbasket.",
+    "Put the braided bread loaf and the light golden brown bread into the breadbasket with textured sides using two arms.",
+    "Simultaneously grab the round bread with braided top and the bread block with light patches, drop in the plastic breadbasket with mesh sides.",
+    "Lift the bread with golden crust and the soft bread at once with the dual arm, then set them in the breadbasket with textured sides.",
+    "Move the smooth crusty small bread and the soft bread to the light and textured breadbasket",
+    "Take the soft doughy bread and the light golden brown bread, place them inside the beige breadbasket for holding bread.",
+    "Place the bread with golden crust and the golden bread in the beige breadbasket using the dual arm",
+    "Use two arms and set the round bread with crusty texture, the soft bread in the light beige rectangular breadbasket.",
+    "Grab both the small bread and the golden bread loaf with the dual arm and place in the beige breadbasket.",
+    "Grab both the golden bread loaf with soft inside and the doughy and soft bread, drop into the plastic mesh breadbasket.",
+    "Shift the small golden baked bread and the doughy and soft bread together to the breadbasket with textured sides.",
+    "Pick the soft doughy bread and the bread with rough texture and set them in the beige breadbasket for holding bread.",
+    "Pick the soft golden bread and the hand-sized bread block for the the medium rectangular breadbasket",
+    "Take the soft doughy bread and the bread block with light patches to the woven light beige breadbasket",
+    "Move the golden brown bread and the cuboid bread at once into the textured beige breadbasket.",
+    "Grab two breads the soft doughy bread and the bread loaf with bumpy surface and place in the plastic breadbasket with mesh sides.",
+    "Use the dual arm to place the bread with golden crust and the doughy and soft bread into the light beige rectangular breadbasket.",
+    "Pick the small golden baked bread and the hand-sized bread block, place them in the breadbasket for bread storage.",
+    "Lift the bread with golden crust and the hand-sized bread block with two arms, put in the rectangular breadbasket.",
+    "Take the golden brown bread and the light golden brown bread together and place them into the rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the smooth crusty small bread and the bread loaf with bumpy surface in the plastic breadbasket with mesh sides.",
+    "Simultaneously grab the golden brown bread with braided design and the golden bread loaf using the dual arm, then drop them in the plastic mesh breadbasket.",
+    "Take the round bread with crusty texture and the bread loaf with uneven edges then place in the beige breadbasket for holding bread.",
+    "Shift the bread with golden crust and the soft bread into the rectangular breadbasket",
+    "Grab the braided bread loaf and the cuboid bread quickly and drop them into the beige breadbasket.",
+    "Pick up both the round bread with braided top and the cuboid bread, then place them in the light beige rectangular breadbasket.",
+    "Use both arms to move the soft doughy bread, the bread loaf with bumpy surface to the rectangular breadbasket.",
+    "Put the soft golden bread and the cuboid bread into the medium rectangular breadbasket using two arms.",
+    "Simultaneously grab the golden brown bread with braided design and the bread block with light patches, drop in the light and textured breadbasket.",
+    "Lift the bread with golden crust and the golden bread at once with the dual arm, then set them in the light and textured breadbasket.",
+    "Move the smooth crusty small bread and the golden bread loaf to the rectangular breadbasket",
+    "Take the smooth crusty small bread and the bread loaf with bumpy surface, place them inside the light beige rectangular breadbasket.",
+    "Place the golden brown bread and the cuboid bread in the medium rectangular breadbasket using the dual arm",
+    "Use two arms and set the golden bread loaf with soft inside, the golden bread loaf in the beige breadbasket.",
+    "Grab both the golden brown bread and the light golden brown bread with the dual arm and place in the breadbasket with textured sides.",
+    "Grab both the bread with golden crust and the bread block with light patches, drop into the medium rectangular breadbasket.",
+    "Shift the golden bread loaf with soft inside and the square-shaped bread together to the beige breadbasket.",
+    "Pick the golden brown bread with braided design and the doughy and soft bread and set them in the beige breadbasket.",
+    "Pick the round bread with crusty texture and the hand-sized bread block for the the light and textured breadbasket",
+    "Take the bread with golden crust and the soft bread to the medium rectangular breadbasket",
+    "Move the soft doughy bread and the soft bread at once into the breadbasket for bread storage.",
+    "Grab two breads the round bread with crusty texture and the golden bread and place in the plastic breadbasket with mesh sides.",
+    "Use the dual arm to place the round bread with braided top and the light golden brown bread into the woven light beige breadbasket.",
+    "Pick the small bread and the square-shaped bread, place them in the woven light beige breadbasket.",
+    "Lift the soft golden bread and the bread block with light patches with two arms, put in the plastic mesh breadbasket.",
+    "Take the bread with golden crust and the golden bread together and place them into the light and textured breadbasket.",
+    "Simultaneously use the dual arm to drop the soft doughy bread and the hand-sized bread block in the breadbasket for bread storage.",
+    "Simultaneously grab the soft golden bread and the square-shaped bread using the dual arm, then drop them in the light and textured breadbasket.",
+    "Take the round bread with braided top and the bread block with light patches then place in the breadbasket with textured sides.",
+    "Shift the soft golden bread and the light golden brown bread into the medium rectangular breadbasket",
+    "Grab the small golden baked bread and the hand-sized bread block quickly and drop them into the breadbasket for bread storage.",
+    "Pick up both the round bread with crusty texture and the doughy and soft bread, then place them in the plastic mesh breadbasket."
+  ],
+  "unseen": [
+    "Use the dual arm to pick up the round braided loaf and the bread loaf with soft surface, then place them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the braided top round bread and the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Place the palm-sized braided golden bread and the bread loaf with soft surface into the shallow rectangular breadbasket using the dual arm",
+    "Grab the round braided loaf and the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the rectangular bread loaf and place in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread loaf with soft surface and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the bread with golden crust, then place them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the braided top round bread and the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Place the round braided loaf and the bread loaf with soft surface into the shallow rectangular breadbasket using the dual arm",
+    "Grab the round braided loaf and the rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the rectangular bread loaf and place in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread with golden crust and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface and drop them into the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the bread with golden crust and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the braided top round bread and the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Place the palm-sized braided golden bread and the bread loaf with soft surface into the woven shallow breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick the round braided loaf and the bread loaf with soft surface and place in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the rectangular bread loaf and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the bread loaf with soft surface, then place them in the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the bread with golden crust and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the braided top round bread and the bread loaf with soft surface, drop in the shallow rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the rectangular bread loaf into the shallow rectangular breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the rectangular bread loaf and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the bread loaf with soft surface, then place them in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the bread with golden crust and drop them into the woven shallow breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread with golden crust, drop in the shallow rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the bread loaf with soft surface into the shallow rectangular breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface with two arms, place in the shallow rectangular breadbasket.",
+    "Pick the round braided loaf and the rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the braided top round bread and the bread loaf with soft surface, then place them in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and drop them into the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the braided top round bread and the rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Place the round braided loaf and the bread loaf with soft surface into the shallow rectangular breadbasket using the dual arm",
+    "Grab the round braided loaf and the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick the round braided loaf and the bread with golden crust and place in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface with two arms, place in the woven shallow breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread with golden crust and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the bread loaf with soft surface, then place them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the bread with golden crust and drop them into the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the braided top round bread and the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Place the braided top round bread and the bread loaf with soft surface into the woven shallow breadbasket using the dual arm",
+    "Grab the braided top round bread and the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the bread loaf with soft surface and place in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface with two arms, place in the woven shallow breadbasket.",
+    "Pick the round braided loaf and the bread with golden crust and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the bread loaf with soft surface, then place them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the bread with golden crust and drop them into the woven shallow breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface and put them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the braided top round bread and the rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Place the round braided loaf and the bread with golden crust into the woven shallow breadbasket using the dual arm",
+    "Grab the braided top round bread and the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust with two arms, place in the woven shallow breadbasket.",
+    "Pick the braided top round bread and the rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the round braided loaf and the bread with golden crust, then place them in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the round braided loaf and the bread loaf with soft surface, drop in the breadbasket with woven pattern.",
+    "Place the round braided loaf and the bread loaf with soft surface into the shallow rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the bread with golden crust and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the bread with golden crust with two arms, place in the woven shallow breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread loaf with soft surface and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the bread with golden crust, then place them in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the rectangular bread loaf and put them in the breadbasket with woven pattern.",
+    "Use one arm to grab the braided top round bread and the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Place the palm-sized braided golden bread and the bread loaf with soft surface into the woven shallow breadbasket using the dual arm",
+    "Grab the round braided loaf and the rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface with two arms, place in the breadbasket with woven pattern.",
+    "Pick the palm-sized braided golden bread and the bread loaf with soft surface and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the braided top round bread and the rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the bread with golden crust and drop them into the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the braided top round bread and the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Place the round braided loaf and the rectangular bread loaf into the breadbasket with woven pattern using the dual arm",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick the braided top round bread and the bread loaf with soft surface and place in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust with two arms, place in the woven shallow breadbasket.",
+    "Pick the braided top round bread and the bread with golden crust and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the round braided loaf and the rectangular bread loaf, then place them in the breadbasket with woven pattern."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode45.json b/place_bread_basket/demo_clean/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f941e9290d50e651ff0c00cf66f563e43761df2
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the round bread with braided top and the braided bread loaf at once into the breadbasket for baking.",
+    "Put the smooth crusty small bread and the smooth crusty small bread into the wooden breadbasket using two arms.",
+    "Take the smooth crusty small bread and the golden brown bread with braided design together and place them into the medium breadbasket.",
+    "Grab two breads the soft doughy bread and the round bread with crusty texture and place in the breadbasket made of woven wood.",
+    "Use two arms and set the smooth crusty small bread, the soft doughy bread in the round breadbasket.",
+    "Grab both the soft golden bread and the soft golden bread with the dual arm and place in the palm-sized breadbasket.",
+    "Place the small bread and the golden brown bread in the palm-sized breadbasket using the dual arm",
+    "Lift the golden brown bread and the golden bread loaf with soft inside at once with the dual arm, then set them in the round breadbasket.",
+    "Pick up both the golden bread loaf with soft inside and the smooth crusty small bread, then place them in the round breadbasket.",
+    "Use both arms to move the small bread, the round bread with braided top to the breadbasket with spiral lines.",
+    "Shift the bread with golden crust and the round bread with crusty texture together to the breadbasket for baking.",
+    "Pick the soft golden bread and the small golden baked bread for the the breadbasket for baking",
+    "Take the golden brown bread with braided design and the bread with golden crust then place in the medium breadbasket.",
+    "Move the soft doughy bread and the braided bread loaf to the smooth beige breadbasket",
+    "Take the small bread and the small golden baked bread to the palm-sized breadbasket",
+    "Pick the braided bread loaf and the soft golden bread, place them in the breadbasket made of woven wood.",
+    "Pick the bread with golden crust and the bread with golden crust and set them in the spiral ridged breadbasket.",
+    "Take the small golden baked bread and the round bread with braided top, place them inside the palm-sized breadbasket.",
+    "Shift the soft golden bread and the small bread into the breadbasket with flat base",
+    "Simultaneously grab the golden bread loaf with soft inside and the golden brown bread with braided design, drop in the palm-sized breadbasket.",
+    "Simultaneously use the dual arm to drop the round bread with crusty texture and the golden brown bread with braided design in the breadbasket with flat base.",
+    "Use the dual arm to place the soft doughy bread and the smooth crusty small bread into the wooden breadbasket.",
+    "Grab the bread with golden crust and the small golden baked bread quickly and drop them into the breadbasket with flat base.",
+    "Grab both the smooth crusty small bread and the golden bread loaf with soft inside, drop into the round breadbasket.",
+    "Lift the golden brown bread and the round bread with braided top with two arms, put in the round breadbasket.",
+    "Simultaneously grab the soft doughy bread and the small golden baked bread using the dual arm, then drop them in the breadbasket for dough.",
+    "Move the golden brown bread with braided design and the round bread with crusty texture at once into the wooden breadbasket.",
+    "Put the small golden baked bread and the soft doughy bread into the breadbasket for dough using two arms.",
+    "Take the smooth crusty small bread and the smooth crusty small bread together and place them into the medium breadbasket.",
+    "Grab two breads the soft golden bread and the round bread with braided top and place in the palm-sized breadbasket.",
+    "Use two arms and set the golden brown bread with braided design, the small golden baked bread in the spiral ridged breadbasket.",
+    "Grab both the braided bread loaf and the golden brown bread with braided design with the dual arm and place in the breadbasket for baking.",
+    "Place the golden brown bread with braided design and the soft golden bread in the round breadbasket using the dual arm",
+    "Lift the soft doughy bread and the soft doughy bread at once with the dual arm, then set them in the spiral ridged breadbasket.",
+    "Pick up both the bread with golden crust and the small bread, then place them in the smooth beige breadbasket.",
+    "Use both arms to move the round bread with braided top, the golden brown bread with braided design to the breadbasket made of woven wood.",
+    "Shift the small golden baked bread and the small bread together to the breadbasket with flat base.",
+    "Pick the braided bread loaf and the soft golden bread for the the breadbasket for dough",
+    "Take the soft golden bread and the golden brown bread then place in the breadbasket with spiral lines.",
+    "Move the soft golden bread and the small bread to the breadbasket for baking",
+    "Take the braided bread loaf and the golden brown bread with braided design to the breadbasket with flat base",
+    "Pick the soft golden bread and the bread with golden crust, place them in the round breadbasket.",
+    "Pick the soft golden bread and the bread with golden crust and set them in the round breadbasket.",
+    "Take the golden brown bread and the golden bread loaf with soft inside, place them inside the breadbasket with spiral lines.",
+    "Shift the smooth crusty small bread and the soft golden bread into the breadbasket made of woven wood",
+    "Simultaneously grab the braided bread loaf and the small bread, drop in the breadbasket with flat base.",
+    "Simultaneously use the dual arm to drop the smooth crusty small bread and the braided bread loaf in the smooth beige breadbasket.",
+    "Use the dual arm to place the soft golden bread and the small golden baked bread into the breadbasket shaped like a bowl.",
+    "Grab the round bread with crusty texture and the golden bread loaf with soft inside quickly and drop them into the breadbasket for dough.",
+    "Grab both the round bread with braided top and the small golden baked bread, drop into the breadbasket shaped like a bowl.",
+    "Lift the round bread with braided top and the bread with golden crust with two arms, put in the smooth beige breadbasket.",
+    "Simultaneously grab the round bread with crusty texture and the bread with golden crust using the dual arm, then drop them in the palm-sized breadbasket.",
+    "Move the bread with golden crust and the soft golden bread at once into the breadbasket with flat base.",
+    "Put the soft golden bread and the soft golden bread into the round breadbasket using two arms.",
+    "Take the soft golden bread and the golden brown bread with braided design together and place them into the palm-sized breadbasket.",
+    "Grab two breads the soft golden bread and the golden bread loaf with soft inside and place in the palm-sized breadbasket.",
+    "Use two arms and set the round bread with crusty texture, the golden brown bread with braided design in the breadbasket for dough.",
+    "Grab both the round bread with braided top and the braided bread loaf with the dual arm and place in the breadbasket for dough.",
+    "Place the small golden baked bread and the round bread with crusty texture in the breadbasket made of woven wood using the dual arm",
+    "Lift the golden brown bread and the small bread at once with the dual arm, then set them in the breadbasket shaped like a bowl.",
+    "Pick up both the round bread with braided top and the braided bread loaf, then place them in the medium breadbasket.",
+    "Use both arms to move the small golden baked bread, the round bread with crusty texture to the spiral ridged breadbasket.",
+    "Shift the braided bread loaf and the golden brown bread with braided design together to the wooden breadbasket.",
+    "Pick the golden bread loaf with soft inside and the small golden baked bread for the the spiral ridged breadbasket",
+    "Take the golden brown bread with braided design and the braided bread loaf then place in the smooth beige breadbasket.",
+    "Move the small bread and the smooth crusty small bread to the breadbasket for baking",
+    "Take the round bread with crusty texture and the small bread to the breadbasket shaped like a bowl",
+    "Pick the golden bread loaf with soft inside and the smooth crusty small bread, place them in the breadbasket with spiral lines.",
+    "Pick the soft golden bread and the round bread with crusty texture and set them in the wooden breadbasket.",
+    "Take the golden brown bread and the round bread with braided top, place them inside the smooth beige breadbasket.",
+    "Shift the small bread and the soft doughy bread into the breadbasket with spiral lines",
+    "Simultaneously grab the soft golden bread and the smooth crusty small bread, drop in the wooden breadbasket.",
+    "Simultaneously use the dual arm to drop the soft doughy bread and the soft doughy bread in the wooden breadbasket.",
+    "Use the dual arm to place the golden brown bread with braided design and the round bread with braided top into the smooth beige breadbasket.",
+    "Grab the golden brown bread with braided design and the golden brown bread with braided design quickly and drop them into the breadbasket shaped like a bowl.",
+    "Grab both the soft golden bread and the smooth crusty small bread, drop into the breadbasket shaped like a bowl.",
+    "Lift the round bread with crusty texture and the round bread with braided top with two arms, put in the medium breadbasket.",
+    "Simultaneously grab the golden brown bread with braided design and the round bread with crusty texture using the dual arm, then drop them in the smooth beige breadbasket.",
+    "Move the round bread with braided top and the small golden baked bread at once into the breadbasket with spiral lines.",
+    "Put the soft doughy bread and the soft golden bread into the round breadbasket using two arms.",
+    "Take the round bread with braided top and the golden brown bread together and place them into the spiral ridged breadbasket.",
+    "Grab two breads the soft doughy bread and the round bread with crusty texture and place in the breadbasket with spiral lines.",
+    "Use two arms and set the golden bread loaf with soft inside, the braided bread loaf in the medium breadbasket.",
+    "Grab both the soft golden bread and the golden brown bread with braided design with the dual arm and place in the smooth beige breadbasket.",
+    "Place the round bread with braided top and the round bread with crusty texture in the spiral ridged breadbasket using the dual arm",
+    "Lift the soft golden bread and the round bread with braided top at once with the dual arm, then set them in the breadbasket with flat base.",
+    "Pick up both the golden brown bread and the bread with golden crust, then place them in the wooden breadbasket.",
+    "Use both arms to move the golden bread loaf with soft inside, the golden brown bread to the breadbasket with flat base.",
+    "Shift the golden brown bread with braided design and the smooth crusty small bread together to the breadbasket shaped like a bowl.",
+    "Pick the golden bread loaf with soft inside and the round bread with crusty texture for the the spiral ridged breadbasket",
+    "Take the golden brown bread and the round bread with braided top then place in the palm-sized breadbasket.",
+    "Move the golden bread loaf with soft inside and the round bread with crusty texture to the breadbasket shaped like a bowl",
+    "Take the golden brown bread and the braided bread loaf to the breadbasket shaped like a bowl",
+    "Pick the golden brown bread and the golden bread loaf with soft inside, place them in the breadbasket shaped like a bowl.",
+    "Pick the soft doughy bread and the bread with golden crust and set them in the breadbasket for baking.",
+    "Take the braided bread loaf and the soft golden bread, place them inside the breadbasket with flat base.",
+    "Shift the bread with golden crust and the soft doughy bread into the breadbasket with flat base",
+    "Simultaneously grab the round bread with crusty texture and the soft doughy bread, drop in the spiral ridged breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with golden crust and the golden brown bread with braided design in the breadbasket shaped like a bowl.",
+    "Use the dual arm to place the small bread and the bread with golden crust into the breadbasket for dough."
+  ],
+  "unseen": [
+    "Grab the braided top round bread and the round braided loaf with two arms, place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and drop it into the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the braided top round bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the palm-sized braided golden bread, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and put them in the round beige breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and drop them into the beige breadbasket.",
+    "Place the palm-sized braided golden bread and the round braided loaf into the round beige breadbasket using the dual arm",
+    "Pick the round braided loaf and the braided top round bread and place them in the round beige breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the round braided loaf with two arms, place in the round beige breadbasket.",
+    "Grab the round braided loaf and the round braided loaf and drop it into the beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the round braided loaf, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the round braided loaf, then place them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and put them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the palm-sized braided golden bread into the round beige breadbasket using the dual arm",
+    "Pick the braided top round bread and the palm-sized braided golden bread and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf with two arms, place in the round beige breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the braided top round bread, drop in the light wooden breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the round braided loaf, then place them in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf and put them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop them into the beige breadbasket.",
+    "Place the round braided loaf and the palm-sized braided golden bread into the round beige breadbasket using the dual arm",
+    "Pick the braided top round bread and the palm-sized braided golden bread and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the palm-sized braided golden bread and place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf with two arms, place in the round beige breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop it into the light wooden breadbasket.",
+    "Use one arm to grab the round braided loaf and the palm-sized braided golden bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the palm-sized braided golden bread, then place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and put them in the round beige breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the palm-sized braided golden bread into the round beige breadbasket using the dual arm",
+    "Pick the braided top round bread and the palm-sized braided golden bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the braided top round bread and place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the round braided loaf with two arms, place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf and drop it into the round beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the palm-sized braided golden bread, drop in the light wooden breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the braided top round bread, then place them in the round beige breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and drop them into the light wooden breadbasket.",
+    "Place the braided top round bread and the round braided loaf into the beige breadbasket using the dual arm",
+    "Pick the braided top round bread and the round braided loaf and place them in the beige breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the round braided loaf with two arms, place in the beige breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and drop it into the light wooden breadbasket.",
+    "Use one arm to grab the braided top round bread and the round braided loaf, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the round braided loaf, then place them in the round beige breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and put them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and drop them into the beige breadbasket.",
+    "Place the palm-sized braided golden bread and the round braided loaf into the round beige breadbasket using the dual arm",
+    "Pick the round braided loaf and the braided top round bread and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the braided top round bread and place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the braided top round bread with two arms, place in the beige breadbasket.",
+    "Grab the round braided loaf and the round braided loaf and drop it into the beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the braided top round bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the round braided loaf, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and put them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the braided top round bread and drop them into the beige breadbasket.",
+    "Place the braided top round bread and the braided top round bread into the beige breadbasket using the dual arm",
+    "Pick the round braided loaf and the braided top round bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf with two arms, place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the braided top round bread and drop it into the light wooden breadbasket.",
+    "Use one arm to grab the braided top round bread and the palm-sized braided golden bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the round braided loaf, then place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the round braided loaf and put them in the beige breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the palm-sized braided golden bread into the beige breadbasket using the dual arm",
+    "Pick the braided top round bread and the round braided loaf and place them in the beige breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the palm-sized braided golden bread and place in the beige breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread with two arms, place in the round beige breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop it into the light wooden breadbasket.",
+    "Use one arm to grab the braided top round bread and the round braided loaf, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the round braided loaf, then place them in the beige breadbasket.",
+    "Grab the round braided loaf and the round braided loaf and put them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the braided top round bread and drop them into the round beige breadbasket.",
+    "Place the round braided loaf and the palm-sized braided golden bread into the light wooden breadbasket using the dual arm",
+    "Pick the braided top round bread and the palm-sized braided golden bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the palm-sized braided golden bread and place in the round beige breadbasket.",
+    "Grab the braided top round bread and the round braided loaf with two arms, place in the beige breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the round braided loaf, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the round braided loaf, then place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and put them in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the braided top round bread into the beige breadbasket using the dual arm",
+    "Pick the braided top round bread and the palm-sized braided golden bread and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the round braided loaf and place in the beige breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread with two arms, place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the round braided loaf, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the palm-sized braided golden bread, then place them in the beige breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and put them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the round braided loaf and drop them into the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the round braided loaf into the light wooden breadbasket using the dual arm",
+    "Pick the braided top round bread and the braided top round bread and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the braided top round bread and place in the round beige breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread with two arms, place in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode46.json b/place_bread_basket/demo_clean/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b8f465406ed8eacd71f278be8ac74867bb46950
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab both the slice-shaped bread and the small loaf with curved top, drop into the beige basket for holding bread.",
+    "Take the golden crusted bread slice and the smooth loaf with rounded edges to the smooth-textured breadbasket",
+    "Lift the bread loaf with square shape and the small loaf with curved top with two arms, put in the oval breadbasket.",
+    "Simultaneously grab the bread with rounded corners and the hand-sized oval loaf using the dual arm, then drop them in the medium oval breadbasket.",
+    "Grab the bread with firm crust edges and the brown loaf quickly and drop them into the breadbasket for small food items.",
+    "Take the bread with firm crust edges and the brown loaf together and place them into the smooth-textured breadbasket.",
+    "Shift the rectangular bread soft inside and the light brown bread with ridges together to the smooth-textured breadbasket.",
+    "Lift the bread with firm crust edges and the golden bread loaf at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Pick the golden bread and the smooth loaf with rounded edges and set them in the medium oval breadbasket.",
+    "Place the brown bread loaf and the smooth loaf with rounded edges in the breadbasket for small food items using the dual arm",
+    "Put the bread loaf with square shape and the soft brown bread into the medium oval breadbasket using two arms.",
+    "Take the rectangular bread soft inside and the smooth loaf with rounded edges then place in the two-hand-sized breadbasket.",
+    "Use two arms and set the soft golden baked bread, the brown loaf in the light brown breadbasket.",
+    "Grab two breads the golden crusted bread slice and the smooth loaf with rounded edges and place in the two-hand-sized breadbasket.",
+    "Grab both the square loaf of bread and the bread with golden-brown crust with the dual arm and place in the basket with light brown weaving.",
+    "Take the square loaf of bread and the small golden brown bread, place them inside the oval breadbasket.",
+    "Simultaneously grab the brown bread loaf and the brown loaf, drop in the breadbasket with curved base.",
+    "Move the square loaf of bread and the bread with split top to the breadbasket for small food items",
+    "Pick the square loaf of bread and the light brown bread with ridges, place them in the oval breadbasket.",
+    "Pick up both the brown bread loaf and the light brown loaf with smooth sides, then place them in the oval breadbasket.",
+    "Use the dual arm to place the bread with golden surface color and the small loaf with curved top into the medium oval breadbasket.",
+    "Pick the golden crusted bread slice and the bread with warm golden color for the the light brown breadbasket",
+    "Move the golden crusted bread slice and the smooth loaf with rounded edges at once into the light brown breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with golden surface color and the smooth loaf with rounded edges in the synthetic material breadbasket.",
+    "Shift the brown bread loaf and the hand-sized oval loaf into the oval breadbasket",
+    "Use both arms to move the brown bread loaf, the small golden brown bread to the two-hand-sized breadbasket.",
+    "Grab both the golden bread and the golden bread loaf, drop into the two-hand-sized breadbasket.",
+    "Take the golden bread and the small golden brown bread to the two-hand-sized breadbasket",
+    "Lift the soft golden baked bread and the golden bread loaf with two arms, put in the synthetic material breadbasket.",
+    "Simultaneously grab the bread with firm crust edges and the light brown loaf with smooth sides using the dual arm, then drop them in the medium oval breadbasket.",
+    "Grab the bread loaf with square shape and the light brown bread with ridges quickly and drop them into the synthetic material breadbasket.",
+    "Take the brown bread loaf and the golden bread loaf together and place them into the oval breadbasket.",
+    "Shift the golden bread and the light brown bread with ridges together to the oval breadbasket.",
+    "Lift the bread loaf with square shape and the smooth loaf with rounded edges at once with the dual arm, then set them in the synthetic material breadbasket.",
+    "Pick the golden bread and the bread with split top and set them in the beige basket for holding bread.",
+    "Place the bread with rounded corners and the smooth loaf with rounded edges in the smooth-textured breadbasket using the dual arm",
+    "Put the rectangular bread soft inside and the light brown loaf with smooth sides into the basket with light brown weaving using two arms.",
+    "Take the rectangular bread soft inside and the light brown bread with ridges then place in the smooth-textured breadbasket.",
+    "Use two arms and set the golden brown loaf-shaped bread, the soft brown bread in the two-hand-sized breadbasket.",
+    "Grab two breads the golden brown loaf-shaped bread and the bread with golden-brown crust and place in the oval basket for bread.",
+    "Grab both the golden crusted bread slice and the small golden brown bread with the dual arm and place in the breadbasket for small food items.",
+    "Take the bread with rounded corners and the light brown loaf with smooth sides, place them inside the oval basket for bread.",
+    "Simultaneously grab the bread with firm crust edges and the light brown loaf with smooth sides, drop in the medium oval breadbasket.",
+    "Move the golden crusted bread slice and the smooth loaf with rounded edges to the smooth-textured breadbasket",
+    "Pick the bread with rounded corners and the hand-sized oval loaf, place them in the breadbasket with curved base.",
+    "Pick up both the golden crusted bread slice and the bread with golden-brown crust, then place them in the breadbasket for small food items.",
+    "Use the dual arm to place the soft golden baked bread and the small loaf with curved top into the woven plastic breadbasket.",
+    "Pick the bread with firm crust edges and the small golden brown bread for the the basket with light brown weaving",
+    "Move the bread with rounded corners and the small golden brown bread at once into the light brown breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with rounded corners and the bread with warm golden color in the beige basket for holding bread.",
+    "Shift the golden bread and the bread with warm golden color into the smooth-textured breadbasket",
+    "Use both arms to move the slice-shaped bread, the smooth loaf with rounded edges to the basket with light brown weaving.",
+    "Grab both the bread with golden surface color and the bread with golden-brown crust, drop into the two-hand-sized breadbasket.",
+    "Take the bread with golden surface color and the smooth loaf with rounded edges to the light brown breadbasket",
+    "Lift the soft golden baked bread and the bread with golden-brown crust with two arms, put in the breadbasket with curved base.",
+    "Simultaneously grab the rectangular bread soft inside and the small golden brown bread using the dual arm, then drop them in the oval basket for bread.",
+    "Grab the golden bread and the small golden brown bread quickly and drop them into the basket with light brown weaving.",
+    "Take the bread with rounded corners and the bread with warm golden color together and place them into the medium oval breadbasket.",
+    "Shift the bread with rounded corners and the bread with warm golden color together to the smooth-textured breadbasket.",
+    "Lift the bread with golden surface color and the brown loaf at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Pick the golden bread and the bread with golden-brown crust and set them in the synthetic material breadbasket.",
+    "Place the square loaf of bread and the bread with warm golden color in the beige basket for holding bread using the dual arm",
+    "Put the bread with rounded corners and the bread with warm golden color into the woven plastic breadbasket using two arms.",
+    "Take the bread loaf with square shape and the golden bread loaf then place in the basket with light brown weaving.",
+    "Use two arms and set the bread with rounded corners, the small golden brown bread in the breadbasket for small food items.",
+    "Grab two breads the square loaf of bread and the brown loaf and place in the light brown breadbasket.",
+    "Grab both the bread with golden surface color and the light brown loaf with smooth sides with the dual arm and place in the breadbasket with curved base.",
+    "Take the bread with golden surface color and the brown loaf, place them inside the beige basket for holding bread.",
+    "Simultaneously grab the rectangular bread soft inside and the soft brown bread, drop in the light brown breadbasket.",
+    "Move the bread with rounded corners and the bread with golden-brown crust to the beige basket for holding bread",
+    "Pick the slice-shaped bread and the golden bread loaf, place them in the light brown breadbasket.",
+    "Pick up both the slice-shaped bread and the bread with golden-brown crust, then place them in the basket with light brown weaving.",
+    "Use the dual arm to place the brown bread loaf and the smooth loaf with rounded edges into the smooth-textured breadbasket.",
+    "Pick the golden brown loaf-shaped bread and the light brown bread with ridges for the the two-hand-sized breadbasket",
+    "Move the bread loaf with square shape and the light brown bread with ridges at once into the oval basket for bread.",
+    "Simultaneously use the dual arm to drop the slice-shaped bread and the small golden brown bread in the beige basket for holding bread.",
+    "Shift the slice-shaped bread and the soft brown bread into the woven plastic breadbasket",
+    "Use both arms to move the soft golden baked bread, the light brown loaf with smooth sides to the woven plastic breadbasket.",
+    "Grab both the bread with rounded corners and the hand-sized oval loaf, drop into the oval breadbasket.",
+    "Take the slice-shaped bread and the golden bread loaf to the beige basket for holding bread",
+    "Lift the square loaf of bread and the small loaf with curved top with two arms, put in the breadbasket with curved base.",
+    "Simultaneously grab the square loaf of bread and the soft brown bread using the dual arm, then drop them in the breadbasket with curved base.",
+    "Grab the soft golden baked bread and the brown loaf quickly and drop them into the two-hand-sized breadbasket.",
+    "Take the soft golden baked bread and the hand-sized oval loaf together and place them into the smooth-textured breadbasket.",
+    "Shift the slice-shaped bread and the brown loaf together to the beige basket for holding bread.",
+    "Lift the bread loaf with square shape and the small golden brown bread at once with the dual arm, then set them in the medium oval breadbasket.",
+    "Pick the golden brown loaf-shaped bread and the light brown bread with ridges and set them in the medium oval breadbasket.",
+    "Place the bread with golden surface color and the small loaf with curved top in the beige basket for holding bread using the dual arm",
+    "Put the bread with firm crust edges and the brown loaf into the synthetic material breadbasket using two arms.",
+    "Take the golden crusted bread slice and the bread with split top then place in the woven plastic breadbasket.",
+    "Use two arms and set the golden bread, the small loaf with curved top in the medium oval breadbasket.",
+    "Grab two breads the golden brown loaf-shaped bread and the bread with split top and place in the smooth-textured breadbasket.",
+    "Grab both the square loaf of bread and the bread with split top with the dual arm and place in the smooth-textured breadbasket.",
+    "Take the slice-shaped bread and the hand-sized oval loaf, place them inside the oval basket for bread.",
+    "Simultaneously grab the square loaf of bread and the golden bread loaf, drop in the beige basket for holding bread.",
+    "Move the bread with golden surface color and the smooth loaf with rounded edges to the oval breadbasket",
+    "Pick the bread with rounded corners and the bread with golden-brown crust, place them in the breadbasket for small food items.",
+    "Pick up both the bread loaf with square shape and the smooth loaf with rounded edges, then place them in the breadbasket with curved base.",
+    "Use the dual arm to place the brown bread loaf and the small golden brown bread into the breadbasket with curved base.",
+    "Pick the rectangular bread soft inside and the brown loaf for the the breadbasket for small food items"
+  ],
+  "unseen": [
+    "Use the dual arm to pick up the bread loaf medium-sized and the oval bread, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the oval-shaped soft bread and place in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the rounded oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop it into the breadbasket with ridged texture.",
+    "Place the bread loaf medium-sized and the oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the rounded oval bread, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the rounded oval bread, drop in the beige breadbasket.",
+    "Pick the small loaf-shaped bread and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread with two arms, place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Place the soft rectangular bread loaf and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the soft rectangular bread loaf and the oval bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the rounded oval bread, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the oval bread and place in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and put them in the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval-shaped soft bread, drop in the medium-sized breadbasket.",
+    "Pick the small loaf-shaped bread and the rounded oval bread and place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval bread and drop it into the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf and the rounded oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the rounded oval bread, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread loaf medium-sized and the oval bread and place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf medium-sized and the oval bread, drop in the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop it into the breadbasket with ridged texture.",
+    "Place the bread loaf medium-sized and the oval-shaped soft bread into the medium-sized breadbasket using the dual arm",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the rounded oval bread, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and the oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop it into the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf and the rounded oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the small loaf-shaped bread and the oval bread and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the oval-shaped soft bread, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the rounded oval bread, drop in the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and the rounded oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval bread with two arms, place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Place the soft rectangular bread loaf and the oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval bread, drop in the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop it into the beige breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the oval bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the rounded oval bread, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the oval bread and place in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the oval-shaped soft bread and place them in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and drop it into the medium-sized breadbasket.",
+    "Place the soft rectangular bread loaf and the oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the small loaf-shaped bread and the oval bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval bread and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf medium-sized and the oval-shaped soft bread, drop in the breadbasket with ridged texture.",
+    "Pick the soft rectangular bread loaf and the oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval bread with two arms, place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop it into the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the soft rectangular bread loaf and the oval bread and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop it into the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the beige breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the rounded oval bread, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread loaf medium-sized and the oval bread and place in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval bread, drop in the beige breadbasket.",
+    "Pick the small loaf-shaped bread and the rounded oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop it into the beige breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the beige breadbasket using the dual arm",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the oval bread, then place them in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode47.json b/place_bread_basket/demo_clean/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd3914a09ee6a92e7a0c8319d04117088b5cf81b
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to move the bread loaf with bumpy surface, the golden bread loaf to the smooth-textured breadbasket.",
+    "Pick the light golden brown bread and the soft brown bread for the the smooth-textured breadbasket",
+    "Grab both the golden bread loaf and the golden bread loaf with the dual arm and place in the breadbasket for small food items.",
+    "Grab the soft bread and the hand-sized oval loaf quickly and drop them into the basket with light brown weaving.",
+    "Take the bread loaf with bumpy surface and the soft brown bread to the breadbasket with curved base",
+    "Pick up both the bread with rough texture and the small golden brown bread, then place them in the smooth-textured breadbasket.",
+    "Move the bread with rough texture and the small loaf with curved top at once into the beige basket for holding bread.",
+    "Lift the doughy and soft bread and the small loaf with curved top with two arms, put in the light brown breadbasket.",
+    "Use the dual arm to place the square-shaped bread and the smooth loaf with rounded edges into the breadbasket with curved base.",
+    "Pick the bread block with light patches and the brown loaf and set them in the beige basket for holding bread.",
+    "Simultaneously use the dual arm to drop the bread loaf with bumpy surface and the brown loaf in the two-hand-sized breadbasket.",
+    "Grab both the bread with rough texture and the bread with split top, drop into the synthetic material breadbasket.",
+    "Simultaneously grab the doughy and soft bread and the soft brown bread, drop in the basket with light brown weaving.",
+    "Use two arms and set the light golden brown bread, the small golden brown bread in the breadbasket with curved base.",
+    "Take the cuboid bread and the bread with golden-brown crust together and place them into the breadbasket with curved base.",
+    "Move the cuboid bread and the bread with warm golden color to the smooth-textured breadbasket",
+    "Place the soft bread and the bread with split top in the light brown breadbasket using the dual arm",
+    "Simultaneously grab the cuboid bread and the bread with split top using the dual arm, then drop them in the oval breadbasket.",
+    "Shift the golden bread and the small golden brown bread into the synthetic material breadbasket",
+    "Take the bread loaf with uneven edges and the small golden brown bread then place in the smooth-textured breadbasket.",
+    "Pick the bread loaf with bumpy surface and the bread with warm golden color, place them in the synthetic material breadbasket.",
+    "Lift the golden bread loaf and the smooth loaf with rounded edges at once with the dual arm, then set them in the woven plastic breadbasket.",
+    "Take the soft bread and the bread with split top, place them inside the smooth-textured breadbasket.",
+    "Put the golden bread loaf and the soft brown bread into the oval breadbasket using two arms.",
+    "Grab two breads the golden bread and the golden bread loaf and place in the breadbasket with curved base.",
+    "Shift the bread with rough texture and the small loaf with curved top together to the smooth-textured breadbasket.",
+    "Use both arms to move the hand-sized bread block, the smooth loaf with rounded edges to the synthetic material breadbasket.",
+    "Pick the soft bread and the small golden brown bread for the the breadbasket with curved base",
+    "Grab both the golden bread loaf and the light brown loaf with smooth sides with the dual arm and place in the breadbasket for small food items.",
+    "Grab the soft bread and the smooth loaf with rounded edges quickly and drop them into the oval breadbasket.",
+    "Take the soft bread and the hand-sized oval loaf to the woven plastic breadbasket",
+    "Pick up both the golden bread and the hand-sized oval loaf, then place them in the two-hand-sized breadbasket.",
+    "Move the soft bread and the soft brown bread at once into the synthetic material breadbasket.",
+    "Lift the golden bread and the soft brown bread with two arms, put in the light brown breadbasket.",
+    "Use the dual arm to place the bread loaf with uneven edges and the hand-sized oval loaf into the medium oval breadbasket.",
+    "Pick the square-shaped bread and the soft brown bread and set them in the breadbasket with curved base.",
+    "Simultaneously use the dual arm to drop the light golden brown bread and the golden bread loaf in the medium oval breadbasket.",
+    "Grab both the golden bread loaf and the light brown loaf with smooth sides, drop into the smooth-textured breadbasket.",
+    "Simultaneously grab the hand-sized bread block and the brown loaf, drop in the beige basket for holding bread.",
+    "Use two arms and set the bread with rough texture, the light brown bread with ridges in the synthetic material breadbasket.",
+    "Take the doughy and soft bread and the light brown loaf with smooth sides together and place them into the breadbasket with curved base.",
+    "Move the bread block with light patches and the bread with golden-brown crust to the smooth-textured breadbasket",
+    "Place the bread loaf with uneven edges and the smooth loaf with rounded edges in the breadbasket for small food items using the dual arm",
+    "Simultaneously grab the bread block with light patches and the small loaf with curved top using the dual arm, then drop them in the woven plastic breadbasket.",
+    "Shift the bread with rough texture and the light brown bread with ridges into the breadbasket with curved base",
+    "Take the doughy and soft bread and the smooth loaf with rounded edges then place in the beige basket for holding bread.",
+    "Pick the golden bread and the soft brown bread, place them in the smooth-textured breadbasket.",
+    "Lift the soft bread and the brown loaf at once with the dual arm, then set them in the oval breadbasket.",
+    "Take the hand-sized bread block and the bread with split top, place them inside the breadbasket with curved base.",
+    "Put the soft bread and the soft brown bread into the oval breadbasket using two arms.",
+    "Grab two breads the square-shaped bread and the bread with split top and place in the basket with light brown weaving.",
+    "Shift the square-shaped bread and the bread with split top together to the synthetic material breadbasket.",
+    "Use both arms to move the golden bread, the light brown bread with ridges to the smooth-textured breadbasket.",
+    "Pick the square-shaped bread and the light brown loaf with smooth sides for the the breadbasket with curved base",
+    "Grab both the soft bread and the golden bread loaf with the dual arm and place in the light brown breadbasket.",
+    "Grab the hand-sized bread block and the bread with warm golden color quickly and drop them into the oval basket for bread.",
+    "Take the bread block with light patches and the small loaf with curved top to the oval basket for bread",
+    "Pick up both the golden bread and the smooth loaf with rounded edges, then place them in the medium oval breadbasket.",
+    "Move the doughy and soft bread and the golden bread loaf at once into the synthetic material breadbasket.",
+    "Lift the golden bread and the light brown bread with ridges with two arms, put in the beige basket for holding bread.",
+    "Use the dual arm to place the light golden brown bread and the light brown bread with ridges into the oval breadbasket.",
+    "Pick the cuboid bread and the golden bread loaf and set them in the breadbasket for small food items.",
+    "Simultaneously use the dual arm to drop the light golden brown bread and the light brown bread with ridges in the synthetic material breadbasket.",
+    "Grab both the square-shaped bread and the brown loaf, drop into the medium oval breadbasket.",
+    "Simultaneously grab the doughy and soft bread and the light brown bread with ridges, drop in the oval basket for bread.",
+    "Use two arms and set the doughy and soft bread, the small golden brown bread in the beige basket for holding bread.",
+    "Take the bread block with light patches and the soft brown bread together and place them into the synthetic material breadbasket.",
+    "Move the bread with rough texture and the bread with golden-brown crust to the synthetic material breadbasket",
+    "Place the bread loaf with bumpy surface and the light brown loaf with smooth sides in the oval breadbasket using the dual arm",
+    "Simultaneously grab the bread loaf with uneven edges and the brown loaf using the dual arm, then drop them in the beige basket for holding bread.",
+    "Shift the bread with rough texture and the smooth loaf with rounded edges into the light brown breadbasket",
+    "Take the cuboid bread and the bread with warm golden color then place in the breadbasket with curved base.",
+    "Pick the bread loaf with bumpy surface and the brown loaf, place them in the oval breadbasket.",
+    "Lift the doughy and soft bread and the bread with golden-brown crust at once with the dual arm, then set them in the breadbasket for small food items.",
+    "Take the bread block with light patches and the bread with split top, place them inside the smooth-textured breadbasket.",
+    "Put the light golden brown bread and the light brown loaf with smooth sides into the breadbasket with curved base using two arms.",
+    "Grab two breads the bread loaf with bumpy surface and the bread with split top and place in the woven plastic breadbasket.",
+    "Shift the golden bread and the bread with warm golden color together to the synthetic material breadbasket.",
+    "Use both arms to move the hand-sized bread block, the light brown bread with ridges to the basket with light brown weaving.",
+    "Pick the square-shaped bread and the golden bread loaf for the the light brown breadbasket",
+    "Grab both the bread block with light patches and the golden bread loaf with the dual arm and place in the oval breadbasket.",
+    "Grab the hand-sized bread block and the brown loaf quickly and drop them into the smooth-textured breadbasket.",
+    "Take the golden bread loaf and the bread with golden-brown crust to the basket with light brown weaving",
+    "Pick up both the light golden brown bread and the smooth loaf with rounded edges, then place them in the synthetic material breadbasket.",
+    "Move the bread loaf with bumpy surface and the smooth loaf with rounded edges at once into the light brown breadbasket.",
+    "Lift the cuboid bread and the smooth loaf with rounded edges with two arms, put in the two-hand-sized breadbasket.",
+    "Use the dual arm to place the square-shaped bread and the golden bread loaf into the breadbasket with curved base.",
+    "Pick the soft bread and the light brown loaf with smooth sides and set them in the medium oval breadbasket.",
+    "Simultaneously use the dual arm to drop the square-shaped bread and the small loaf with curved top in the beige basket for holding bread.",
+    "Grab both the bread loaf with bumpy surface and the light brown bread with ridges, drop into the medium oval breadbasket.",
+    "Simultaneously grab the golden bread and the brown loaf, drop in the smooth-textured breadbasket.",
+    "Use two arms and set the bread with rough texture, the small golden brown bread in the two-hand-sized breadbasket.",
+    "Take the light golden brown bread and the small golden brown bread together and place them into the basket with light brown weaving.",
+    "Move the golden bread and the hand-sized oval loaf to the breadbasket for small food items",
+    "Place the hand-sized bread block and the brown loaf in the oval breadbasket using the dual arm",
+    "Simultaneously grab the square-shaped bread and the hand-sized oval loaf using the dual arm, then drop them in the basket with light brown weaving.",
+    "Shift the doughy and soft bread and the golden bread loaf into the medium oval breadbasket",
+    "Take the golden bread and the light brown loaf with smooth sides then place in the light brown breadbasket.",
+    "Pick the bread with rough texture and the golden bread loaf, place them in the oval basket for bread.",
+    "Lift the golden bread and the bread with split top at once with the dual arm, then set them in the smooth-textured breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread loaf with soft surface and the rounded oval bread and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Pick the bread loaf with soft surface and the rounded oval bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the oval-shaped soft bread and place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the rounded oval bread, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the rectangular bread loaf and the rounded oval bread, drop in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the oval bread and put them in the breadbasket with ridged texture.",
+    "Place the bread with golden crust and the oval-shaped soft bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the rectangular bread loaf and the oval bread and drop them into the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the oval bread and drop it into the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the rounded oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Pick the bread loaf with soft surface and the oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the rounded oval bread and place in the beige breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the rounded oval bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust and the oval bread, drop in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Place the bread loaf with soft surface and the oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the rounded oval bread and drop them into the beige breadbasket.",
+    "Grab the rectangular bread loaf and the oval bread and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Pick the rectangular bread loaf and the oval-shaped soft bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread with golden crust and the oval-shaped soft bread and place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the oval bread, then place them in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the oval bread, drop in the beige breadbasket.",
+    "Grab the bread with golden crust and the oval bread and put them in the medium-sized breadbasket.",
+    "Place the bread with golden crust and the oval-shaped soft bread into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and drop them into the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the rounded oval bread and drop it into the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Pick the bread with golden crust and the oval-shaped soft bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread with golden crust and the oval bread and place in the beige breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the oval bread, drop in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the rounded oval bread and put them in the beige breadbasket.",
+    "Place the bread loaf with soft surface and the oval-shaped soft bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread loaf with soft surface and the rounded oval bread and drop them into the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the oval bread and drop it into the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Pick the bread loaf with soft surface and the oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the rounded oval bread and place in the beige breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the rounded oval bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust and the oval bread, drop in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread and put them in the breadbasket with ridged texture.",
+    "Place the rectangular bread loaf and the oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread and drop them into the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the oval-shaped soft bread with two arms, place in the breadbasket with ridged texture.",
+    "Pick the rectangular bread loaf and the oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the oval bread and place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the oval-shaped soft bread, then place them in the medium-sized breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the rounded oval bread, drop in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the oval bread and put them in the breadbasket with ridged texture.",
+    "Place the rectangular bread loaf and the oval-shaped soft bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the rectangular bread loaf and the rounded oval bread and drop them into the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Pick the bread with golden crust and the oval bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the oval-shaped soft bread and place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread with golden crust and the rounded oval bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the oval bread, drop in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the rounded oval bread and put them in the beige breadbasket.",
+    "Place the bread with golden crust and the rounded oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the rounded oval bread and drop them into the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the oval bread and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Pick the bread loaf with soft surface and the rounded oval bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread with golden crust and the oval-shaped soft bread and place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rectangular bread loaf and the oval bread, then place them in the medium-sized breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the oval-shaped soft bread, drop in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the oval-shaped soft bread and put them in the medium-sized breadbasket.",
+    "Place the bread loaf with soft surface and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the bread with golden crust and the rounded oval bread and drop them into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the oval bread and drop it into the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Pick the bread with golden crust and the oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the rounded oval bread and place in the beige breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the rounded oval bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust and the oval-shaped soft bread, drop in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the oval-shaped soft bread and put them in the medium-sized breadbasket.",
+    "Place the bread loaf with soft surface and the rounded oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the bread with golden crust and the rounded oval bread and drop them into the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Pick the rectangular bread loaf and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the oval-shaped soft bread and place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the rounded oval bread, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf with soft surface and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Grab the bread with golden crust and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Place the bread with golden crust and the oval-shaped soft bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread loaf with soft surface and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Grab the bread with golden crust and the rounded oval bread and drop it into the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Pick the bread with golden crust and the rounded oval bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the oval-shaped soft bread and place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the oval bread, drop in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the oval bread and put them in the breadbasket with ridged texture.",
+    "Place the bread with golden crust and the rounded oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the oval bread and drop them into the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the oval bread and drop it into the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode48.json b/place_bread_basket/demo_clean/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbeae08fe42ff82dfadf106ed16b14d1ce38d921
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the round bread with crusty texture and the light brown bread with ridges together and place them into the light beige rectangular breadbasket.",
+    "Pick the golden bread loaf with soft inside and the golden bread loaf and set them in the rectangular breadbasket.",
+    "Pick the round bread with crusty texture and the small golden brown bread, place them in the breadbasket for bread storage.",
+    "Grab both the golden brown bread with braided design and the hand-sized oval loaf, drop into the textured beige breadbasket.",
+    "Move the braided bread loaf and the small golden brown bread at once into the textured beige breadbasket.",
+    "Shift the round bread with braided top and the brown loaf into the plastic mesh breadbasket",
+    "Take the soft doughy bread and the small loaf with curved top to the medium rectangular breadbasket",
+    "Shift the golden brown bread with braided design and the bread with warm golden color together to the medium rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the round bread with crusty texture and the brown loaf in the breadbasket for bread storage.",
+    "Take the round bread with crusty texture and the light brown bread with ridges then place in the beige breadbasket for holding bread.",
+    "Use the dual arm to place the round bread with braided top and the bread with split top into the light and textured breadbasket.",
+    "Put the round bread with braided top and the soft brown bread into the light and textured breadbasket using two arms.",
+    "Simultaneously grab the smooth crusty small bread and the bread with warm golden color, drop in the woven light beige breadbasket.",
+    "Grab the golden brown bread and the bread with warm golden color quickly and drop them into the beige breadbasket for holding bread.",
+    "Lift the bread with golden crust and the small golden brown bread at once with the dual arm, then set them in the light and textured breadbasket.",
+    "Use both arms to move the braided bread loaf, the small loaf with curved top to the plastic mesh breadbasket.",
+    "Use two arms and set the round bread with crusty texture, the light brown loaf with smooth sides in the breadbasket with textured sides.",
+    "Grab two breads the golden brown bread and the brown loaf and place in the beige breadbasket for holding bread.",
+    "Place the golden bread loaf with soft inside and the golden bread loaf in the beige breadbasket for holding bread using the dual arm",
+    "Move the small golden baked bread and the brown loaf to the light beige rectangular breadbasket",
+    "Grab both the soft golden bread and the soft brown bread with the dual arm and place in the light beige rectangular breadbasket.",
+    "Pick the soft doughy bread and the small golden brown bread for the the plastic breadbasket with mesh sides",
+    "Lift the braided bread loaf and the light brown bread with ridges with two arms, put in the plastic breadbasket with mesh sides.",
+    "Simultaneously grab the soft doughy bread and the bread with warm golden color using the dual arm, then drop them in the beige breadbasket.",
+    "Pick up both the golden bread loaf with soft inside and the brown loaf, then place them in the beige breadbasket.",
+    "Take the bread with golden crust and the bread with golden-brown crust, place them inside the beige breadbasket.",
+    "Take the golden brown bread and the small loaf with curved top together and place them into the light beige rectangular breadbasket.",
+    "Pick the round bread with crusty texture and the hand-sized oval loaf and set them in the light and textured breadbasket.",
+    "Pick the round bread with braided top and the golden bread loaf, place them in the textured beige breadbasket.",
+    "Grab both the small bread and the smooth loaf with rounded edges, drop into the medium rectangular breadbasket.",
+    "Move the golden brown bread with braided design and the hand-sized oval loaf at once into the breadbasket for bread storage.",
+    "Shift the round bread with braided top and the light brown bread with ridges into the plastic mesh breadbasket",
+    "Take the golden brown bread and the small golden brown bread to the light beige rectangular breadbasket",
+    "Shift the small bread and the bread with golden-brown crust together to the beige breadbasket.",
+    "Simultaneously use the dual arm to drop the soft doughy bread and the small golden brown bread in the medium rectangular breadbasket.",
+    "Take the golden brown bread with braided design and the soft brown bread then place in the plastic mesh breadbasket.",
+    "Use the dual arm to place the soft golden bread and the bread with split top into the rectangular breadbasket.",
+    "Put the braided bread loaf and the golden bread loaf into the woven light beige breadbasket using two arms.",
+    "Simultaneously grab the soft golden bread and the small loaf with curved top, drop in the light beige rectangular breadbasket.",
+    "Grab the golden bread loaf with soft inside and the hand-sized oval loaf quickly and drop them into the medium rectangular breadbasket.",
+    "Lift the small golden baked bread and the bread with warm golden color at once with the dual arm, then set them in the woven light beige breadbasket.",
+    "Use both arms to move the smooth crusty small bread, the small golden brown bread to the woven light beige breadbasket.",
+    "Use two arms and set the small golden baked bread, the golden bread loaf in the rectangular breadbasket.",
+    "Grab two breads the small bread and the brown loaf and place in the woven light beige breadbasket.",
+    "Place the golden brown bread and the smooth loaf with rounded edges in the medium rectangular breadbasket using the dual arm",
+    "Move the bread with golden crust and the brown loaf to the beige breadbasket for holding bread",
+    "Grab both the golden brown bread with braided design and the golden bread loaf with the dual arm and place in the beige breadbasket.",
+    "Pick the braided bread loaf and the light brown loaf with smooth sides for the the medium rectangular breadbasket",
+    "Lift the small bread and the small golden brown bread with two arms, put in the rectangular breadbasket.",
+    "Simultaneously grab the golden bread loaf with soft inside and the small golden brown bread using the dual arm, then drop them in the beige breadbasket.",
+    "Pick up both the small golden baked bread and the light brown bread with ridges, then place them in the light and textured breadbasket.",
+    "Take the smooth crusty small bread and the bread with warm golden color, place them inside the breadbasket with textured sides.",
+    "Take the round bread with braided top and the bread with split top together and place them into the rectangular breadbasket.",
+    "Pick the golden bread loaf with soft inside and the small loaf with curved top and set them in the textured beige breadbasket.",
+    "Pick the small bread and the smooth loaf with rounded edges, place them in the light beige rectangular breadbasket.",
+    "Grab both the round bread with crusty texture and the bread with warm golden color, drop into the medium rectangular breadbasket.",
+    "Move the golden bread loaf with soft inside and the bread with split top at once into the textured beige breadbasket.",
+    "Shift the braided bread loaf and the bread with warm golden color into the plastic breadbasket with mesh sides",
+    "Take the golden bread loaf with soft inside and the small golden brown bread to the beige breadbasket",
+    "Shift the small golden baked bread and the small golden brown bread together to the light beige rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the small golden baked bread and the brown loaf in the medium rectangular breadbasket.",
+    "Take the golden brown bread with braided design and the golden bread loaf then place in the woven light beige breadbasket.",
+    "Use the dual arm to place the smooth crusty small bread and the golden bread loaf into the light beige rectangular breadbasket.",
+    "Put the smooth crusty small bread and the hand-sized oval loaf into the plastic breadbasket with mesh sides using two arms.",
+    "Simultaneously grab the braided bread loaf and the light brown loaf with smooth sides, drop in the rectangular breadbasket.",
+    "Grab the round bread with braided top and the bread with golden-brown crust quickly and drop them into the plastic mesh breadbasket.",
+    "Lift the golden bread loaf with soft inside and the bread with warm golden color at once with the dual arm, then set them in the breadbasket with textured sides.",
+    "Use both arms to move the golden brown bread, the smooth loaf with rounded edges to the beige breadbasket for holding bread.",
+    "Use two arms and set the soft doughy bread, the small loaf with curved top in the medium rectangular breadbasket.",
+    "Grab two breads the golden bread loaf with soft inside and the small golden brown bread and place in the beige breadbasket for holding bread.",
+    "Place the golden brown bread with braided design and the small loaf with curved top in the beige breadbasket for holding bread using the dual arm",
+    "Move the bread with golden crust and the small loaf with curved top to the breadbasket with textured sides",
+    "Grab both the soft doughy bread and the light brown bread with ridges with the dual arm and place in the plastic breadbasket with mesh sides.",
+    "Pick the round bread with braided top and the smooth loaf with rounded edges for the the medium rectangular breadbasket",
+    "Lift the round bread with crusty texture and the bread with warm golden color with two arms, put in the breadbasket with textured sides.",
+    "Simultaneously grab the round bread with braided top and the light brown bread with ridges using the dual arm, then drop them in the textured beige breadbasket.",
+    "Pick up both the small golden baked bread and the bread with warm golden color, then place them in the light and textured breadbasket.",
+    "Take the smooth crusty small bread and the bread with split top, place them inside the medium rectangular breadbasket.",
+    "Take the round bread with braided top and the hand-sized oval loaf together and place them into the beige breadbasket for holding bread.",
+    "Pick the golden brown bread and the golden bread loaf and set them in the beige breadbasket.",
+    "Pick the soft golden bread and the small golden brown bread, place them in the rectangular breadbasket.",
+    "Grab both the soft golden bread and the light brown bread with ridges, drop into the beige breadbasket.",
+    "Move the golden bread loaf with soft inside and the golden bread loaf at once into the breadbasket with textured sides.",
+    "Shift the soft doughy bread and the smooth loaf with rounded edges into the plastic mesh breadbasket",
+    "Take the small bread and the smooth loaf with rounded edges to the light and textured breadbasket",
+    "Shift the small bread and the bread with split top together to the light and textured breadbasket.",
+    "Simultaneously use the dual arm to drop the soft golden bread and the bread with golden-brown crust in the medium rectangular breadbasket.",
+    "Take the golden brown bread and the golden bread loaf then place in the light and textured breadbasket.",
+    "Use the dual arm to place the small bread and the light brown loaf with smooth sides into the woven light beige breadbasket.",
+    "Put the golden brown bread and the golden bread loaf into the beige breadbasket for holding bread using two arms.",
+    "Simultaneously grab the golden bread loaf with soft inside and the brown loaf, drop in the textured beige breadbasket.",
+    "Grab the smooth crusty small bread and the bread with golden-brown crust quickly and drop them into the woven light beige breadbasket.",
+    "Lift the golden brown bread with braided design and the light brown bread with ridges at once with the dual arm, then set them in the woven light beige breadbasket.",
+    "Use both arms to move the bread with golden crust, the bread with golden-brown crust to the woven light beige breadbasket.",
+    "Use two arms and set the golden bread loaf with soft inside, the light brown bread with ridges in the medium rectangular breadbasket.",
+    "Grab two breads the soft golden bread and the brown loaf and place in the breadbasket for bread storage.",
+    "Place the small golden baked bread and the brown loaf in the beige breadbasket for holding bread using the dual arm",
+    "Move the round bread with braided top and the bread with golden-brown crust to the medium rectangular breadbasket",
+    "Grab both the golden brown bread and the bread with warm golden color with the dual arm and place in the beige breadbasket.",
+    "Pick the golden bread loaf with soft inside and the small loaf with curved top for the the beige breadbasket for holding bread"
+  ],
+  "unseen": [
+    "Pick the braided top round bread and the rounded oval bread and place them in the shallow rectangular breadbasket.",
+    "Place the braided top round bread and the oval bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the round braided loaf and the rounded oval bread, drop in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the oval-shaped soft bread with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the oval bread and place in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and drop them into the woven shallow breadbasket.",
+    "Pick the palm-sized braided golden bread and the oval bread and place them in the shallow rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the oval-shaped soft bread and place in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the rounded oval bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval bread, then place them in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the rounded oval bread and put them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Pick the braided top round bread and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Place the braided top round bread and the oval-shaped soft bread into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the rounded oval bread and place in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the oval bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and put them in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and drop them into the woven shallow breadbasket.",
+    "Pick the braided top round bread and the oval bread and place them in the breadbasket with woven pattern.",
+    "Place the round braided loaf and the rounded oval bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the braided top round bread and the oval-shaped soft bread and place in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and put them in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop them into the breadbasket with woven pattern.",
+    "Pick the braided top round bread and the oval bread and place them in the shallow rectangular breadbasket.",
+    "Place the braided top round bread and the oval bread into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the braided top round bread and the oval-shaped soft bread, drop in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the braided top round bread and the rounded oval bread and place in the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the rounded oval bread, then place them in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the oval bread and put them in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the shallow rectangular breadbasket.",
+    "Pick the braided top round bread and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Place the palm-sized braided golden bread and the oval bread into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the oval-shaped soft bread and place in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the oval-shaped soft bread, then place them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop them into the shallow rectangular breadbasket.",
+    "Pick the round braided loaf and the rounded oval bread and place them in the breadbasket with woven pattern.",
+    "Place the braided top round bread and the oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the oval bread with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the rounded oval bread and place in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the round braided loaf and the oval-shaped soft bread, then place them in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the oval bread and put them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the woven shallow breadbasket.",
+    "Pick the braided top round bread and the oval-shaped soft bread and place them in the breadbasket with woven pattern.",
+    "Place the braided top round bread and the rounded oval bread into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the round braided loaf and the oval-shaped soft bread and place in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the oval-shaped soft bread and put them in the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the rounded oval bread and drop them into the breadbasket with woven pattern.",
+    "Pick the palm-sized braided golden bread and the oval bread and place them in the shallow rectangular breadbasket.",
+    "Place the braided top round bread and the oval bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the palm-sized braided golden bread and the oval bread, drop in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the oval bread and place in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the rounded oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval bread, then place them in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and put them in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop them into the woven shallow breadbasket.",
+    "Pick the palm-sized braided golden bread and the oval bread and place them in the breadbasket with woven pattern.",
+    "Place the palm-sized braided golden bread and the oval bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the braided top round bread and the oval bread, drop in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the rounded oval bread and place in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the round braided loaf and the rounded oval bread, then place them in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the oval bread and put them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread and drop them into the woven shallow breadbasket.",
+    "Pick the round braided loaf and the oval bread and place them in the breadbasket with woven pattern.",
+    "Place the braided top round bread and the oval bread into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the round braided loaf and the oval bread, drop in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the rounded oval bread and place in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the oval-shaped soft bread, then place them in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the oval bread and put them in the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the rounded oval bread and drop them into the shallow rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the rounded oval bread and place them in the breadbasket with woven pattern."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode49.json b/place_bread_basket/demo_clean/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..bad0eca156b769c1aa378cc04584abf6e2fa0765
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the golden brown bread with braided design and the bread with rounded edges, place them inside the synthetic material breadbasket.",
+    "Pick the small golden baked bread and the medium-sized bread piece for the the breadbasket with curved base",
+    "Lift the braided bread loaf and the square-shaped bread piece at once with the right arm, then set them in the medium oval breadbasket.",
+    "Simultaneously use the right arm to drop the small golden baked bread and the medium-sized bread piece in the breadbasket with curved base.",
+    "Grab the small golden baked bread and the medium-sized bread piece quickly and drop them into the basket with light brown weaving.",
+    "Grab both the braided bread loaf and the bread with soft texture, drop into the two-hand-sized breadbasket.",
+    "Pick the small bread and the medium-sized bread piece and set them in the breadbasket with curved base.",
+    "Use both arms to move the golden bread loaf with soft inside, the square-shaped bread piece to the two-hand-sized breadbasket.",
+    "Simultaneously grab the round bread with crusty texture and the light brown porous bread, drop in the synthetic material breadbasket.",
+    "Shift the golden brown bread and the golden baked bread together to the woven plastic breadbasket.",
+    "Lift the bread with golden crust and the bread with soft texture with two arms, put in the breadbasket for small food items.",
+    "Pick up both the golden brown bread with braided design and the fluffy baked bread, then place them in the synthetic material breadbasket.",
+    "Grab two breads the round bread with crusty texture and the fluffy baked bread and place in the breadbasket with curved base.",
+    "Put the small bread and the medium-sized bread piece into the two-hand-sized breadbasket using two arms.",
+    "Pick the soft doughy bread and the bread with soft texture, place them in the two-hand-sized breadbasket.",
+    "Grab both the small golden baked bread and the bread with rounded edges with the right arm and place in the woven plastic breadbasket.",
+    "Simultaneously grab the soft golden bread and the soft square bread using the right arm, then drop them in the smooth-textured breadbasket.",
+    "Take the small bread and the light brown porous bread then place in the beige basket for holding bread.",
+    "Take the soft doughy bread and the golden baked bread to the light brown breadbasket",
+    "Take the golden brown bread with braided design and the soft square bread together and place them into the two-hand-sized breadbasket.",
+    "Shift the golden brown bread and the soft square bread into the breadbasket for small food items",
+    "Move the small golden baked bread and the square-shaped bread piece at once into the beige basket for holding bread.",
+    "Use two arms and set the round bread with crusty texture, the soft square bread in the medium oval breadbasket.",
+    "Use the right arm to place the small bread and the square-shaped bread piece into the synthetic material breadbasket.",
+    "Move the golden bread loaf with soft inside and the soft square bread to the two-hand-sized breadbasket",
+    "Place the soft golden bread and the bread with rounded edges in the beige basket for holding bread using the right arm",
+    "Take the round bread with braided top and the square-shaped bread piece, place them inside the light brown breadbasket.",
+    "Pick the soft doughy bread and the medium-sized bread piece for the the synthetic material breadbasket",
+    "Lift the braided bread loaf and the bread with soft texture at once with the right arm, then set them in the woven plastic breadbasket.",
+    "Simultaneously use the right arm to drop the soft doughy bread and the sponge-textured golden bread in the synthetic material breadbasket.",
+    "Grab the golden bread loaf with soft inside and the fluffy baked bread quickly and drop them into the woven plastic breadbasket.",
+    "Grab both the round bread with crusty texture and the rounded square loaf, drop into the beige basket for holding bread.",
+    "Pick the golden brown bread and the light brown porous bread and set them in the beige basket for holding bread.",
+    "Use both arms to move the soft doughy bread, the bread with soft texture to the smooth-textured breadbasket.",
+    "Simultaneously grab the round bread with braided top and the fluffy baked bread, drop in the light brown breadbasket.",
+    "Shift the soft golden bread and the sponge-textured golden bread together to the basket with light brown weaving.",
+    "Lift the soft golden bread and the soft square bread with two arms, put in the breadbasket with curved base.",
+    "Pick up both the braided bread loaf and the rounded square loaf, then place them in the medium oval breadbasket.",
+    "Grab two breads the golden brown bread with braided design and the bread with soft texture and place in the oval breadbasket.",
+    "Put the soft doughy bread and the sponge-textured golden bread into the beige basket for holding bread using two arms.",
+    "Pick the golden bread loaf with soft inside and the medium-sized bread piece, place them in the breadbasket with curved base.",
+    "Grab both the small bread and the light brown porous bread with the right arm and place in the light brown breadbasket.",
+    "Simultaneously grab the golden brown bread and the rounded square loaf using the right arm, then drop them in the breadbasket for small food items.",
+    "Take the braided bread loaf and the square-shaped bread piece then place in the beige basket for holding bread.",
+    "Take the golden brown bread and the medium bread with rounded sides to the synthetic material breadbasket",
+    "Take the small bread and the golden baked bread together and place them into the medium oval breadbasket.",
+    "Shift the smooth crusty small bread and the soft square bread into the light brown breadbasket",
+    "Move the small golden baked bread and the sponge-textured golden bread at once into the beige basket for holding bread.",
+    "Use two arms and set the smooth crusty small bread, the rounded square loaf in the oval basket for bread.",
+    "Use the right arm to place the bread with golden crust and the medium-sized bread piece into the woven plastic breadbasket.",
+    "Move the soft golden bread and the golden brown bread to the breadbasket for small food items",
+    "Place the round bread with braided top and the square-shaped bread piece in the two-hand-sized breadbasket using the right arm",
+    "Take the golden bread loaf with soft inside and the soft square bread, place them inside the breadbasket with curved base.",
+    "Pick the golden brown bread with braided design and the rounded square loaf for the the breadbasket for small food items",
+    "Lift the golden bread loaf with soft inside and the fluffy baked bread at once with the right arm, then set them in the two-hand-sized breadbasket.",
+    "Simultaneously use the right arm to drop the soft golden bread and the medium bread with rounded sides in the beige basket for holding bread.",
+    "Grab the golden brown bread with braided design and the medium bread with rounded sides quickly and drop them into the oval basket for bread.",
+    "Grab both the golden bread loaf with soft inside and the medium-sized bread piece, drop into the synthetic material breadbasket.",
+    "Pick the small golden baked bread and the golden baked bread and set them in the woven plastic breadbasket.",
+    "Use both arms to move the soft doughy bread, the bread with soft texture to the smooth-textured breadbasket.",
+    "Simultaneously grab the golden brown bread and the golden baked bread, drop in the smooth-textured breadbasket.",
+    "Shift the soft golden bread and the light brown porous bread together to the breadbasket for small food items.",
+    "Lift the braided bread loaf and the rounded square loaf with two arms, put in the synthetic material breadbasket.",
+    "Pick up both the round bread with crusty texture and the golden baked bread, then place them in the synthetic material breadbasket.",
+    "Grab two breads the golden brown bread with braided design and the bread with rounded edges and place in the oval basket for bread.",
+    "Put the golden brown bread and the square-shaped bread piece into the oval breadbasket using two arms.",
+    "Pick the soft golden bread and the bread with soft texture, place them in the synthetic material breadbasket.",
+    "Grab both the braided bread loaf and the golden brown bread with the right arm and place in the basket with light brown weaving.",
+    "Simultaneously grab the golden brown bread and the light brown porous bread using the right arm, then drop them in the smooth-textured breadbasket.",
+    "Take the small golden baked bread and the soft square bread then place in the oval breadbasket.",
+    "Take the soft golden bread and the fluffy baked bread to the smooth-textured breadbasket",
+    "Take the small bread and the soft square bread together and place them into the breadbasket with curved base.",
+    "Shift the smooth crusty small bread and the medium bread with rounded sides into the medium oval breadbasket",
+    "Move the golden bread loaf with soft inside and the golden brown bread at once into the woven plastic breadbasket.",
+    "Use two arms and set the smooth crusty small bread, the bread with soft texture in the two-hand-sized breadbasket.",
+    "Use the right arm to place the soft doughy bread and the bread with soft texture into the smooth-textured breadbasket.",
+    "Move the small golden baked bread and the soft square bread to the oval basket for bread",
+    "Place the round bread with crusty texture and the sponge-textured golden bread in the smooth-textured breadbasket using the right arm",
+    "Take the soft golden bread and the soft square bread, place them inside the medium oval breadbasket.",
+    "Pick the soft doughy bread and the golden brown bread for the the two-hand-sized breadbasket",
+    "Lift the small golden baked bread and the bread with rounded edges at once with the right arm, then set them in the beige basket for holding bread.",
+    "Simultaneously use the right arm to drop the soft doughy bread and the bread with rounded edges in the breadbasket for small food items.",
+    "Grab the round bread with braided top and the light brown porous bread quickly and drop them into the oval basket for bread.",
+    "Grab both the golden brown bread with braided design and the soft square bread, drop into the oval basket for bread.",
+    "Pick the small golden baked bread and the rounded square loaf and set them in the medium oval breadbasket.",
+    "Use both arms to move the round bread with crusty texture, the sponge-textured golden bread to the breadbasket for small food items.",
+    "Simultaneously grab the round bread with crusty texture and the medium-sized bread piece, drop in the light brown breadbasket.",
+    "Shift the round bread with crusty texture and the medium bread with rounded sides together to the light brown breadbasket.",
+    "Lift the braided bread loaf and the medium-sized bread piece with two arms, put in the medium oval breadbasket.",
+    "Pick up both the smooth crusty small bread and the soft square bread, then place them in the oval breadbasket.",
+    "Grab two breads the small golden baked bread and the square-shaped bread piece and place in the two-hand-sized breadbasket.",
+    "Put the golden brown bread with braided design and the bread with rounded edges into the oval breadbasket using two arms.",
+    "Pick the golden bread loaf with soft inside and the medium bread with rounded sides, place them in the basket with light brown weaving.",
+    "Grab both the soft golden bread and the fluffy baked bread with the right arm and place in the woven plastic breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the sponge-textured golden bread using the right arm, then drop them in the oval breadbasket.",
+    "Take the soft golden bread and the fluffy baked bread then place in the breadbasket with curved base.",
+    "Take the round bread with braided top and the medium bread with rounded sides to the synthetic material breadbasket",
+    "Take the golden bread loaf with soft inside and the golden brown bread together and place them into the breadbasket with curved base.",
+    "Shift the small golden baked bread and the fluffy baked bread into the oval basket for bread",
+    "Move the braided bread loaf and the soft square bread at once into the beige basket for holding bread."
+  ],
+  "unseen": [
+    "Grab the braided top round bread and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and the spongy golden brown bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the round braided loaf and the spongy golden brown bread, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the braided top round bread and the soft bread with golden edges, then place them in the beige breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Place the palm-sized braided golden bread and the square bread with light spots into the medium-sized breadbasket using the right arm",
+    "Pick the palm-sized braided golden bread and the spongy golden brown bread and place them in the medium-sized breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges with two arms, place in the breadbasket with ridged texture.",
+    "Grab the round braided loaf and the soft bread with golden edges and drop them into the medium-sized breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the braided top round bread and the square bread with light spots and place in the medium-sized breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the braided top round bread and the spongy golden brown bread, then place them in the breadbasket with ridged texture.",
+    "Grab the round braided loaf and the square bread with light spots and drop it into the beige breadbasket.",
+    "Place the round braided loaf and the square bread with light spots into the beige breadbasket using the right arm",
+    "Pick the braided top round bread and the square bread with light spots and place them in the beige breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots with two arms, place in the breadbasket with ridged texture.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop them into the medium-sized breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the braided top round bread and the square bread with light spots and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the palm-sized braided golden bread and the spongy golden brown bread, drop in the beige breadbasket.",
+    "Use the right arm to pick up the round braided loaf and the square bread with light spots, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the breadbasket with ridged texture using the right arm",
+    "Pick the palm-sized braided golden bread and the spongy golden brown bread and place them in the breadbasket with ridged texture.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges with two arms, place in the medium-sized breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop them into the breadbasket with ridged texture.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the round braided loaf and the square bread with light spots and place in the beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the soft bread with golden edges, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the round braided loaf and the soft bread with golden edges, then place them in the breadbasket with ridged texture.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Place the braided top round bread and the soft bread with golden edges into the medium-sized breadbasket using the right arm",
+    "Pick the palm-sized braided golden bread and the spongy golden brown bread and place them in the breadbasket with ridged texture.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots with two arms, place in the breadbasket with ridged texture.",
+    "Grab the round braided loaf and the square bread with light spots and drop them into the beige breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the round braided loaf and the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the braided top round bread and the spongy golden brown bread, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the breadbasket with ridged texture.",
+    "Grab the braided top round bread and the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Place the palm-sized braided golden bread and the spongy golden brown bread into the medium-sized breadbasket using the right arm",
+    "Pick the braided top round bread and the soft bread with golden edges and place them in the medium-sized breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread with two arms, place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop them into the breadbasket with ridged texture.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the round braided loaf and the square bread with light spots and place in the beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the round braided loaf and the soft bread with golden edges, then place them in the medium-sized breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Place the palm-sized braided golden bread and the spongy golden brown bread into the medium-sized breadbasket using the right arm",
+    "Pick the braided top round bread and the soft bread with golden edges and place them in the medium-sized breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots with two arms, place in the medium-sized breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and drop them into the beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and the spongy golden brown bread and place in the beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the palm-sized braided golden bread and the soft bread with golden edges, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Place the round braided loaf and the soft bread with golden edges into the breadbasket with ridged texture using the right arm",
+    "Pick the palm-sized braided golden bread and the spongy golden brown bread and place them in the beige breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots with two arms, place in the medium-sized breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop them into the medium-sized breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the round braided loaf and the spongy golden brown bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the round braided loaf and the soft bread with golden edges, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Place the round braided loaf and the soft bread with golden edges into the breadbasket with ridged texture using the right arm",
+    "Pick the palm-sized braided golden bread and the square bread with light spots and place them in the beige breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges with two arms, place in the medium-sized breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots and drop them into the beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and the spongy golden brown bread and place in the beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the round braided loaf and the spongy golden brown bread, then place them in the breadbasket with ridged texture.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Place the round braided loaf and the soft bread with golden edges into the breadbasket with ridged texture using the right arm",
+    "Pick the braided top round bread and the spongy golden brown bread and place them in the breadbasket with ridged texture.",
+    "Grab the braided top round bread and the square bread with light spots with two arms, place in the breadbasket with ridged texture.",
+    "Grab the braided top round bread and the square bread with light spots and drop them into the medium-sized breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and put them in the beige breadbasket.",
+    "Use the right arm to pick the braided top round bread and the square bread with light spots and place in the beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the braided top round bread and the soft bread with golden edges, then place them in the medium-sized breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots and drop it into the beige breadbasket.",
+    "Place the round braided loaf and the spongy golden brown bread into the medium-sized breadbasket using the right arm",
+    "Pick the round braided loaf and the spongy golden brown bread and place them in the breadbasket with ridged texture.",
+    "Grab the braided top round bread and the spongy golden brown bread with two arms, place in the beige breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and drop them into the breadbasket with ridged texture.",
+    "Grab the round braided loaf and the soft bread with golden edges and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the palm-sized braided golden bread and the spongy golden brown bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the medium-sized breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the beige breadbasket using the right arm",
+    "Pick the braided top round bread and the square bread with light spots and place them in the beige breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots with two arms, place in the medium-sized breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and drop them into the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and put them in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode5.json b/place_bread_basket/demo_clean/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc66d9032942ac682184025e412cbae2c071730c
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bread with golden crust and the bread with split top at once with the left arm, then set them in the breadbasket with spiral lines.",
+    "Pick the braided bread loaf and the golden bread loaf, place them in the breadbasket for baking.",
+    "Use both arms to move the round bread with braided top, the bread with split top to the breadbasket made of woven wood.",
+    "Move the golden bread loaf with soft inside and the bread with golden-brown crust at once into the medium breadbasket.",
+    "Place the braided bread loaf and the bread with split top in the smooth beige breadbasket using the left arm",
+    "Simultaneously grab the smooth crusty small bread and the small golden brown bread using the left arm, then drop them in the breadbasket for dough.",
+    "Use the left arm to place the round bread with crusty texture and the light brown loaf with smooth sides into the breadbasket shaped like a bowl.",
+    "Take the round bread with braided top and the light brown loaf with smooth sides, place them inside the palm-sized breadbasket.",
+    "Move the braided bread loaf and the golden bread loaf to the palm-sized breadbasket",
+    "Take the bread with golden crust and the golden bread loaf together and place them into the breadbasket made of woven wood.",
+    "Lift the round bread with braided top and the soft brown bread with two arms, put in the breadbasket with spiral lines.",
+    "Use two arms and set the golden brown bread with braided design, the soft brown bread in the smooth beige breadbasket.",
+    "Simultaneously grab the braided bread loaf and the bread with split top, drop in the wooden breadbasket.",
+    "Put the golden bread loaf with soft inside and the brown loaf into the breadbasket for baking using two arms.",
+    "Take the smooth crusty small bread and the smooth loaf with rounded edges to the breadbasket for dough",
+    "Pick the bread with golden crust and the bread with split top for the the wooden breadbasket",
+    "Grab both the braided bread loaf and the light brown bread with ridges with the left arm and place in the medium breadbasket.",
+    "Grab the round bread with braided top and the small loaf with curved top quickly and drop them into the round breadbasket.",
+    "Shift the round bread with crusty texture and the small loaf with curved top into the round breadbasket",
+    "Take the round bread with braided top and the smooth loaf with rounded edges then place in the spiral ridged breadbasket.",
+    "Grab both the soft doughy bread and the bread with warm golden color, drop into the breadbasket with flat base.",
+    "Pick the bread with golden crust and the small loaf with curved top and set them in the spiral ridged breadbasket.",
+    "Simultaneously use the left arm to drop the small golden baked bread and the small golden brown bread in the breadbasket made of woven wood.",
+    "Shift the soft doughy bread and the bread with split top together to the spiral ridged breadbasket.",
+    "Grab two breads the golden brown bread with braided design and the light brown loaf with smooth sides and place in the breadbasket shaped like a bowl.",
+    "Pick up both the small bread and the light brown bread with ridges, then place them in the wooden breadbasket.",
+    "Lift the golden bread loaf with soft inside and the soft brown bread at once with the left arm, then set them in the breadbasket with flat base.",
+    "Pick the golden brown bread and the smooth loaf with rounded edges, place them in the breadbasket with spiral lines.",
+    "Use both arms to move the golden brown bread with braided design, the light brown bread with ridges to the breadbasket made of woven wood.",
+    "Move the golden brown bread with braided design and the bread with split top at once into the breadbasket made of woven wood.",
+    "Place the round bread with crusty texture and the bread with golden-brown crust in the round breadbasket using the left arm",
+    "Simultaneously grab the braided bread loaf and the hand-sized oval loaf using the left arm, then drop them in the palm-sized breadbasket.",
+    "Use the left arm to place the golden brown bread and the soft brown bread into the breadbasket shaped like a bowl.",
+    "Take the round bread with crusty texture and the light brown bread with ridges, place them inside the breadbasket with spiral lines.",
+    "Move the bread with golden crust and the light brown loaf with smooth sides to the palm-sized breadbasket",
+    "Take the soft doughy bread and the soft brown bread together and place them into the smooth beige breadbasket.",
+    "Lift the soft golden bread and the golden bread loaf with two arms, put in the breadbasket with flat base.",
+    "Use two arms and set the small golden baked bread, the bread with split top in the breadbasket made of woven wood.",
+    "Simultaneously grab the braided bread loaf and the smooth loaf with rounded edges, drop in the breadbasket made of woven wood.",
+    "Put the golden brown bread and the small golden brown bread into the round breadbasket using two arms.",
+    "Take the golden brown bread and the bread with golden-brown crust to the round breadbasket",
+    "Pick the golden brown bread and the small golden brown bread for the the breadbasket for baking",
+    "Grab both the round bread with crusty texture and the light brown loaf with smooth sides with the left arm and place in the medium breadbasket.",
+    "Grab the braided bread loaf and the small loaf with curved top quickly and drop them into the breadbasket shaped like a bowl.",
+    "Shift the braided bread loaf and the small golden brown bread into the smooth beige breadbasket",
+    "Take the golden brown bread with braided design and the bread with split top then place in the breadbasket with flat base.",
+    "Grab both the bread with golden crust and the bread with split top, drop into the round breadbasket.",
+    "Pick the small golden baked bread and the small loaf with curved top and set them in the breadbasket made of woven wood.",
+    "Simultaneously use the left arm to drop the bread with golden crust and the smooth loaf with rounded edges in the palm-sized breadbasket.",
+    "Shift the round bread with crusty texture and the bread with golden-brown crust together to the breadbasket with spiral lines.",
+    "Grab two breads the small golden baked bread and the brown loaf and place in the wooden breadbasket.",
+    "Pick up both the smooth crusty small bread and the brown loaf, then place them in the round breadbasket.",
+    "Lift the smooth crusty small bread and the soft brown bread at once with the left arm, then set them in the breadbasket for dough.",
+    "Pick the round bread with braided top and the smooth loaf with rounded edges, place them in the breadbasket for baking.",
+    "Use both arms to move the soft doughy bread, the bread with golden-brown crust to the breadbasket made of woven wood.",
+    "Move the golden bread loaf with soft inside and the golden bread loaf at once into the breadbasket with flat base.",
+    "Place the small golden baked bread and the small golden brown bread in the breadbasket made of woven wood using the left arm",
+    "Simultaneously grab the smooth crusty small bread and the small golden brown bread using the left arm, then drop them in the wooden breadbasket.",
+    "Use the left arm to place the round bread with crusty texture and the golden bread loaf into the breadbasket for dough.",
+    "Take the round bread with braided top and the golden bread loaf, place them inside the breadbasket for baking.",
+    "Move the golden brown bread and the light brown bread with ridges to the breadbasket with spiral lines",
+    "Take the soft golden bread and the bread with warm golden color together and place them into the breadbasket with flat base.",
+    "Lift the smooth crusty small bread and the soft brown bread with two arms, put in the breadbasket for dough.",
+    "Use two arms and set the round bread with braided top, the hand-sized oval loaf in the breadbasket with flat base.",
+    "Simultaneously grab the golden brown bread and the golden bread loaf, drop in the medium breadbasket.",
+    "Put the golden bread loaf with soft inside and the light brown bread with ridges into the breadbasket for dough using two arms.",
+    "Take the golden brown bread with braided design and the bread with golden-brown crust to the breadbasket with flat base",
+    "Pick the braided bread loaf and the golden bread loaf for the the breadbasket made of woven wood",
+    "Grab both the golden brown bread with braided design and the bread with golden-brown crust with the left arm and place in the wooden breadbasket.",
+    "Grab the golden bread loaf with soft inside and the golden bread loaf quickly and drop them into the round breadbasket.",
+    "Shift the braided bread loaf and the hand-sized oval loaf into the round breadbasket",
+    "Take the round bread with braided top and the brown loaf then place in the wooden breadbasket.",
+    "Grab both the soft doughy bread and the soft brown bread, drop into the breadbasket made of woven wood.",
+    "Pick the smooth crusty small bread and the light brown bread with ridges and set them in the wooden breadbasket.",
+    "Simultaneously use the left arm to drop the soft golden bread and the small golden brown bread in the breadbasket with spiral lines.",
+    "Shift the smooth crusty small bread and the light brown bread with ridges together to the breadbasket for dough.",
+    "Grab two breads the golden brown bread with braided design and the soft brown bread and place in the breadbasket made of woven wood.",
+    "Pick up both the golden bread loaf with soft inside and the small golden brown bread, then place them in the breadbasket for dough.",
+    "Lift the soft golden bread and the bread with split top at once with the left arm, then set them in the wooden breadbasket.",
+    "Pick the round bread with crusty texture and the light brown bread with ridges, place them in the palm-sized breadbasket.",
+    "Use both arms to move the soft golden bread, the light brown bread with ridges to the smooth beige breadbasket.",
+    "Move the golden brown bread with braided design and the small golden brown bread at once into the breadbasket for baking.",
+    "Place the round bread with crusty texture and the bread with warm golden color in the medium breadbasket using the left arm",
+    "Simultaneously grab the braided bread loaf and the hand-sized oval loaf using the left arm, then drop them in the breadbasket with spiral lines.",
+    "Use the left arm to place the golden bread loaf with soft inside and the light brown loaf with smooth sides into the medium breadbasket.",
+    "Take the golden brown bread and the soft brown bread, place them inside the breadbasket for baking.",
+    "Move the golden brown bread and the smooth loaf with rounded edges to the breadbasket made of woven wood",
+    "Take the golden brown bread with braided design and the golden bread loaf together and place them into the breadbasket shaped like a bowl.",
+    "Lift the smooth crusty small bread and the small loaf with curved top with two arms, put in the breadbasket made of woven wood.",
+    "Use two arms and set the small bread, the soft brown bread in the round breadbasket.",
+    "Simultaneously grab the braided bread loaf and the bread with split top, drop in the breadbasket shaped like a bowl.",
+    "Put the golden bread loaf with soft inside and the small loaf with curved top into the round breadbasket using two arms.",
+    "Take the golden brown bread with braided design and the bread with golden-brown crust to the breadbasket made of woven wood",
+    "Pick the golden brown bread with braided design and the small golden brown bread for the the wooden breadbasket",
+    "Grab both the soft golden bread and the smooth loaf with rounded edges with the left arm and place in the breadbasket with flat base.",
+    "Grab the golden bread loaf with soft inside and the golden bread loaf quickly and drop them into the breadbasket with spiral lines.",
+    "Shift the round bread with braided top and the smooth loaf with rounded edges into the wooden breadbasket",
+    "Take the soft golden bread and the small loaf with curved top then place in the breadbasket for baking.",
+    "Grab both the bread with golden crust and the golden bread loaf, drop into the breadbasket with spiral lines.",
+    "Pick the bread with golden crust and the small loaf with curved top and set them in the palm-sized breadbasket."
+  ],
+  "unseen": [
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the beige breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the round beige breadbasket.",
+    "Use the left arm to pick the round braided loaf and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the braided top round bread and the oval bread and put them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop it into the round beige breadbasket.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the light wooden breadbasket.",
+    "Place the round braided loaf and the oval bread into the light wooden breadbasket using the left arm",
+    "Use the left arm to pick up the round braided loaf and the oval-shaped soft bread, then place them in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the rounded oval bread, drop in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the light wooden breadbasket.",
+    "Use the left arm to pick the palm-sized braided golden bread and the rounded oval bread and place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the oval bread and put them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop it into the round beige breadbasket.",
+    "Pick the braided top round bread and the rounded oval bread and place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Place the round braided loaf and the oval bread into the light wooden breadbasket using the left arm",
+    "Use the left arm to pick up the round braided loaf and the oval bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the rounded oval bread, drop in the round beige breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Use the left arm to pick the round braided loaf and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and drop it into the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the oval-shaped soft bread into the beige breadbasket using the left arm",
+    "Use the left arm to pick up the braided top round bread and the oval-shaped soft bread, then place them in the round beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the light wooden breadbasket.",
+    "Use the left arm to pick the palm-sized braided golden bread and the oval bread and place in the round beige breadbasket.",
+    "Grab the round braided loaf and the oval bread and put them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop it into the beige breadbasket.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop them into the light wooden breadbasket.",
+    "Place the round braided loaf and the rounded oval bread into the round beige breadbasket using the left arm",
+    "Use the left arm to pick up the palm-sized braided golden bread and the rounded oval bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the light wooden breadbasket.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the round beige breadbasket.",
+    "Use the left arm to pick the round braided loaf and the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Pick the braided top round bread and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the rounded oval bread into the beige breadbasket using the left arm",
+    "Use the left arm to pick up the braided top round bread and the oval-shaped soft bread, then place them in the round beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the rounded oval bread, drop in the light wooden breadbasket.",
+    "Grab the braided top round bread and the rounded oval bread with two arms, place in the light wooden breadbasket.",
+    "Use the left arm to pick the braided top round bread and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and put them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and drop it into the light wooden breadbasket.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop them into the round beige breadbasket.",
+    "Place the round braided loaf and the rounded oval bread into the light wooden breadbasket using the left arm",
+    "Use the left arm to pick up the braided top round bread and the oval bread, then place them in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the rounded oval bread, drop in the light wooden breadbasket.",
+    "Grab the round braided loaf and the oval bread with two arms, place in the beige breadbasket.",
+    "Use the left arm to pick the palm-sized braided golden bread and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Pick the round braided loaf and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop them into the light wooden breadbasket.",
+    "Place the braided top round bread and the oval-shaped soft bread into the beige breadbasket using the left arm",
+    "Use the left arm to pick up the braided top round bread and the oval-shaped soft bread, then place them in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval-shaped soft bread with two arms, place in the light wooden breadbasket.",
+    "Use the left arm to pick the palm-sized braided golden bread and the oval bread and place in the round beige breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and put them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop it into the round beige breadbasket.",
+    "Pick the braided top round bread and the oval bread and place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the oval-shaped soft bread and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the oval bread into the light wooden breadbasket using the left arm",
+    "Use the left arm to pick up the braided top round bread and the oval-shaped soft bread, then place them in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the rounded oval bread, drop in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread with two arms, place in the round beige breadbasket.",
+    "Use the left arm to pick the round braided loaf and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the oval bread and drop it into the beige breadbasket.",
+    "Pick the braided top round bread and the oval bread and place them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the oval bread and drop them into the round beige breadbasket.",
+    "Place the round braided loaf and the oval-shaped soft bread into the round beige breadbasket using the left arm",
+    "Use the left arm to pick up the round braided loaf and the oval bread, then place them in the round beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the rounded oval bread, drop in the beige breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread with two arms, place in the light wooden breadbasket.",
+    "Use the left arm to pick the braided top round bread and the rounded oval bread and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Grab the braided top round bread and the oval bread and drop it into the beige breadbasket.",
+    "Pick the braided top round bread and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop them into the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the oval bread into the beige breadbasket using the left arm",
+    "Use the left arm to pick up the braided top round bread and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the oval bread, drop in the beige breadbasket.",
+    "Grab the round braided loaf and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Use the left arm to pick the round braided loaf and the oval bread and place in the round beige breadbasket.",
+    "Grab the braided top round bread and the oval bread and put them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rounded oval bread and drop it into the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the oval bread and place them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the oval-shaped soft bread and drop them into the round beige breadbasket.",
+    "Place the braided top round bread and the rounded oval bread into the light wooden breadbasket using the left arm",
+    "Use the left arm to pick up the braided top round bread and the oval bread, then place them in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the rounded oval bread, drop in the round beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode6.json b/place_bread_basket/demo_clean/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..c365523c84f93cd2c9a5baaa7642f45e8bb534a0
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the light brown porous bread into the basket with light brown weaving",
+    "Grab the square-shaped bread piece for the oval breadbasket with the right arm",
+    "Pick up the medium-sized bread piece and put it in the light brown breadbasket.",
+    "Use the right arm to grab the golden brown bread and drop it inside the breadbasket with curved base.",
+    "Put the golden baked bread into the basket with light brown weaving after grabbing it.",
+    "Lift the rounded square loaf and transfer to the breadbasket for small food items.",
+    "Put the sponge-textured golden bread into the breadbasket for small food items using an arm.",
+    "Move the bread with soft texture to the smooth-textured breadbasket using one arm.",
+    "Grab the medium-sized bread piece with an arm and set in the woven plastic breadbasket.",
+    "Grab the soft square bread with one hand and set it in the oval breadbasket.",
+    "Grab the rounded square loaf, drop it into the synthetic material breadbasket.",
+    "Pick the sponge-textured golden bread and put it into the breadbasket with curved base.",
+    "Lift the bread with rounded edges and set it in the breadbasket with curved base.",
+    "Use the right arm to grab the fluffy baked bread for the medium oval breadbasket",
+    "Pick the soft square bread and move it to the oval basket for bread.",
+    "Grab the medium-sized bread piece with the right arm and drop it in the breadbasket with curved base.",
+    "Pick up the rounded square loaf and drop it in the medium oval breadbasket.",
+    "Drop the soft square bread into the breadbasket for small food items",
+    "Grab the medium-sized bread piece for the oval basket for bread with the right arm",
+    "Pick up the medium-sized bread piece and put it in the synthetic material breadbasket.",
+    "Use the right arm to grab the soft square bread and drop it inside the smooth-textured breadbasket.",
+    "Put the light brown porous bread into the two-hand-sized breadbasket after grabbing it.",
+    "Lift the bread with soft texture and transfer to the basket with light brown weaving.",
+    "Put the sponge-textured golden bread into the oval breadbasket using an arm.",
+    "Move the golden baked bread to the medium oval breadbasket using one arm.",
+    "Grab the bread with rounded edges with an arm and set in the oval breadbasket.",
+    "Grab the sponge-textured golden bread with one hand and set it in the breadbasket for small food items.",
+    "Grab the square-shaped bread piece, drop it into the basket with light brown weaving.",
+    "Pick the rounded square loaf and put it into the two-hand-sized breadbasket.",
+    "Lift the medium bread with rounded sides and set it in the medium oval breadbasket.",
+    "Use the right arm to grab the square-shaped bread piece for the synthetic material breadbasket",
+    "Pick the sponge-textured golden bread and move it to the synthetic material breadbasket.",
+    "Grab the golden baked bread with the right arm and drop it in the oval basket for bread.",
+    "Pick up the sponge-textured golden bread and drop it in the medium oval breadbasket.",
+    "Drop the bread with rounded edges into the oval basket for bread",
+    "Grab the bread with rounded edges for the synthetic material breadbasket with the right arm",
+    "Pick up the soft square bread and put it in the beige basket for holding bread.",
+    "Use the right arm to grab the bread with rounded edges and drop it inside the medium oval breadbasket.",
+    "Put the medium-sized bread piece into the medium oval breadbasket after grabbing it.",
+    "Lift the golden brown bread and transfer to the two-hand-sized breadbasket.",
+    "Put the bread with rounded edges into the smooth-textured breadbasket using an arm.",
+    "Move the square-shaped bread piece to the beige basket for holding bread using one arm.",
+    "Grab the bread with soft texture with an arm and set in the woven plastic breadbasket.",
+    "Grab the fluffy baked bread with one hand and set it in the synthetic material breadbasket.",
+    "Grab the bread with rounded edges, drop it into the medium oval breadbasket.",
+    "Pick the sponge-textured golden bread and put it into the oval basket for bread.",
+    "Lift the bread with rounded edges and set it in the light brown breadbasket.",
+    "Use the right arm to grab the sponge-textured golden bread for the medium oval breadbasket",
+    "Pick the square-shaped bread piece and move it to the smooth-textured breadbasket.",
+    "Grab the light brown porous bread with the right arm and drop it in the breadbasket for small food items.",
+    "Pick up the medium-sized bread piece and drop it in the two-hand-sized breadbasket.",
+    "Drop the bread with soft texture into the woven plastic breadbasket",
+    "Grab the square-shaped bread piece for the oval basket for bread with the right arm",
+    "Pick up the golden baked bread and put it in the breadbasket for small food items.",
+    "Use the right arm to grab the sponge-textured golden bread and drop it inside the beige basket for holding bread.",
+    "Put the sponge-textured golden bread into the beige basket for holding bread after grabbing it.",
+    "Lift the bread with rounded edges and transfer to the woven plastic breadbasket.",
+    "Put the medium-sized bread piece into the woven plastic breadbasket using an arm.",
+    "Move the medium bread with rounded sides to the basket with light brown weaving using one arm.",
+    "Grab the golden brown bread with an arm and set in the breadbasket for small food items.",
+    "Grab the fluffy baked bread with one hand and set it in the woven plastic breadbasket.",
+    "Grab the bread with rounded edges, drop it into the oval breadbasket.",
+    "Pick the golden brown bread and put it into the medium oval breadbasket.",
+    "Lift the rounded square loaf and set it in the synthetic material breadbasket.",
+    "Use the right arm to grab the fluffy baked bread for the oval breadbasket",
+    "Pick the rounded square loaf and move it to the oval basket for bread.",
+    "Grab the bread with rounded edges with the right arm and drop it in the smooth-textured breadbasket.",
+    "Pick up the bread with soft texture and drop it in the light brown breadbasket.",
+    "Drop the bread with soft texture into the oval breadbasket",
+    "Grab the bread with rounded edges for the oval breadbasket with the right arm",
+    "Pick up the square-shaped bread piece and put it in the smooth-textured breadbasket.",
+    "Use the right arm to grab the golden brown bread and drop it inside the smooth-textured breadbasket.",
+    "Put the square-shaped bread piece into the breadbasket for small food items after grabbing it.",
+    "Lift the golden baked bread and transfer to the breadbasket with curved base.",
+    "Put the light brown porous bread into the medium oval breadbasket using an arm.",
+    "Move the rounded square loaf to the two-hand-sized breadbasket using one arm.",
+    "Grab the soft square bread with an arm and set in the synthetic material breadbasket.",
+    "Grab the light brown porous bread with one hand and set it in the woven plastic breadbasket.",
+    "Grab the fluffy baked bread, drop it into the basket with light brown weaving.",
+    "Pick the medium bread with rounded sides and put it into the breadbasket with curved base.",
+    "Lift the bread with rounded edges and set it in the oval basket for bread.",
+    "Use the right arm to grab the rounded square loaf for the smooth-textured breadbasket",
+    "Pick the fluffy baked bread and move it to the oval basket for bread.",
+    "Grab the light brown porous bread with the right arm and drop it in the synthetic material breadbasket.",
+    "Pick up the fluffy baked bread and drop it in the synthetic material breadbasket.",
+    "Drop the bread with rounded edges into the basket with light brown weaving",
+    "Grab the golden baked bread for the synthetic material breadbasket with the right arm",
+    "Pick up the golden baked bread and put it in the oval breadbasket.",
+    "Use the right arm to grab the square-shaped bread piece and drop it inside the two-hand-sized breadbasket.",
+    "Put the golden brown bread into the breadbasket for small food items after grabbing it.",
+    "Lift the fluffy baked bread and transfer to the synthetic material breadbasket.",
+    "Put the medium bread with rounded sides into the smooth-textured breadbasket using an arm.",
+    "Move the rounded square loaf to the beige basket for holding bread using one arm.",
+    "Grab the rounded square loaf with an arm and set in the breadbasket with curved base.",
+    "Grab the bread with soft texture with one hand and set it in the oval breadbasket.",
+    "Grab the rounded square loaf, drop it into the medium oval breadbasket.",
+    "Pick the golden brown bread and put it into the oval breadbasket.",
+    "Lift the bread with rounded edges and set it in the smooth-textured breadbasket.",
+    "Use the right arm to grab the golden baked bread for the woven plastic breadbasket",
+    "Pick the golden brown bread and move it to the woven plastic breadbasket."
+  ],
+  "unseen": [
+    "Grab the soft bread with golden edges with one arm, place in the medium-sized breadbasket.",
+    "Place the spongy golden brown bread into the medium-sized breadbasket using the right arm",
+    "Use one arm to grab the soft bread with golden edges, drop in the beige breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and put it in the medium-sized breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and drop it in the medium-sized breadbasket",
+    "Grab the square bread with light spots with one arm, place in the beige breadbasket.",
+    "Place the soft bread with golden edges into the beige breadbasket using the right arm",
+    "Use one arm to grab the soft bread with golden edges, drop in the beige breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and place it in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the beige breadbasket",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the right arm",
+    "Use one arm to grab the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and place it in the beige breadbasket.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the beige breadbasket",
+    "Grab the spongy golden brown bread with one arm, place in the beige breadbasket.",
+    "Place the square bread with light spots into the breadbasket with ridged texture using the right arm",
+    "Use one arm to grab the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Pick the square bread with light spots and place it in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the beige breadbasket",
+    "Grab the soft bread with golden edges with one arm, place in the medium-sized breadbasket.",
+    "Place the soft bread with golden edges into the beige breadbasket using the right arm",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick the spongy golden brown bread and place in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and put it in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and drop it in the medium-sized breadbasket",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges into the beige breadbasket using the right arm",
+    "Use one arm to grab the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and put it in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Pick the square bread with light spots and drop it in the breadbasket with ridged texture",
+    "Grab the soft bread with golden edges with one arm, place in the beige breadbasket.",
+    "Place the square bread with light spots into the breadbasket with ridged texture using the right arm",
+    "Use one arm to grab the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the beige breadbasket.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the beige breadbasket",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread into the medium-sized breadbasket using the right arm",
+    "Use one arm to grab the spongy golden brown bread, drop in the beige breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Grab the square bread with light spots and put it in the beige breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with ridged texture",
+    "Grab the square bread with light spots with one arm, place in the beige breadbasket.",
+    "Place the spongy golden brown bread into the medium-sized breadbasket using the right arm",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick the square bread with light spots and place in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the medium-sized breadbasket",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread into the beige breadbasket using the right arm",
+    "Use one arm to grab the spongy golden brown bread, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Pick the square bread with light spots and place it in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and put it in the beige breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the breadbasket with ridged texture"
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode7.json b/place_bread_basket/demo_clean/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b144fac4f52b4d18c7f47858f2fa6e710c3201e
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bread loaf with square shape and the bread loaf with square shape and set them in the light beige rectangular breadbasket.",
+    "Simultaneously use the right arm to drop the golden brown loaf-shaped bread and the bread loaf with square shape in the beige breadbasket.",
+    "Take the soft golden baked bread and the square loaf of bread together and place them into the breadbasket for bread storage.",
+    "Use both arms to move the golden brown loaf-shaped bread, the bread with rounded corners to the rectangular breadbasket.",
+    "Pick the bread with firm crust edges and the slice-shaped bread for the the breadbasket for bread storage",
+    "Place the bread with golden surface color and the brown bread loaf in the light beige rectangular breadbasket using the right arm",
+    "Take the golden brown loaf-shaped bread and the soft golden baked bread then place in the medium rectangular breadbasket.",
+    "Move the soft golden baked bread and the rectangular bread soft inside at once into the beige breadbasket for holding bread.",
+    "Use two arms and set the rectangular bread soft inside, the bread loaf with square shape in the beige breadbasket.",
+    "Grab two breads the slice-shaped bread and the square loaf of bread and place in the breadbasket with textured sides.",
+    "Shift the golden crusted bread slice and the bread with golden surface color into the breadbasket for bread storage",
+    "Use the right arm to place the square loaf of bread and the bread with golden surface color into the rectangular breadbasket.",
+    "Grab both the rectangular bread soft inside and the soft golden baked bread with the right arm and place in the medium rectangular breadbasket.",
+    "Grab both the bread with rounded corners and the rectangular bread soft inside, drop into the textured beige breadbasket.",
+    "Lift the golden bread and the rectangular bread soft inside with two arms, put in the light and textured breadbasket.",
+    "Take the brown bread loaf and the bread with firm crust edges to the light and textured breadbasket",
+    "Lift the golden bread and the bread with golden surface color at once with the right arm, then set them in the plastic mesh breadbasket.",
+    "Grab the bread loaf with square shape and the rectangular bread soft inside quickly and drop them into the beige breadbasket for holding bread.",
+    "Take the golden crusted bread slice and the golden crusted bread slice, place them inside the woven light beige breadbasket.",
+    "Pick the golden bread and the slice-shaped bread, place them in the medium rectangular breadbasket.",
+    "Simultaneously grab the bread loaf with square shape and the slice-shaped bread using the right arm, then drop them in the light beige rectangular breadbasket.",
+    "Simultaneously grab the rectangular bread soft inside and the bread with rounded corners, drop in the plastic breadbasket with mesh sides.",
+    "Shift the slice-shaped bread and the bread with golden surface color together to the light beige rectangular breadbasket.",
+    "Pick up both the bread loaf with square shape and the bread with rounded corners, then place them in the beige breadbasket.",
+    "Put the bread with rounded corners and the bread with golden surface color into the textured beige breadbasket using two arms.",
+    "Move the brown bread loaf and the rectangular bread soft inside to the plastic mesh breadbasket",
+    "Pick the slice-shaped bread and the golden crusted bread slice and set them in the plastic mesh breadbasket.",
+    "Simultaneously use the right arm to drop the golden brown loaf-shaped bread and the golden brown loaf-shaped bread in the plastic mesh breadbasket.",
+    "Take the bread with rounded corners and the brown bread loaf together and place them into the medium rectangular breadbasket.",
+    "Use both arms to move the bread with golden surface color, the bread with rounded corners to the breadbasket with textured sides.",
+    "Pick the bread with rounded corners and the golden brown loaf-shaped bread for the the rectangular breadbasket",
+    "Place the soft golden baked bread and the golden bread in the light beige rectangular breadbasket using the right arm",
+    "Take the bread loaf with square shape and the square loaf of bread then place in the breadbasket for bread storage.",
+    "Move the golden bread and the golden crusted bread slice at once into the beige breadbasket for holding bread.",
+    "Use two arms and set the rectangular bread soft inside, the bread with golden surface color in the light beige rectangular breadbasket.",
+    "Grab two breads the golden brown loaf-shaped bread and the golden brown loaf-shaped bread and place in the breadbasket with textured sides.",
+    "Shift the slice-shaped bread and the golden crusted bread slice into the breadbasket for bread storage",
+    "Use the right arm to place the bread loaf with square shape and the soft golden baked bread into the woven light beige breadbasket.",
+    "Grab both the rectangular bread soft inside and the golden crusted bread slice with the right arm and place in the breadbasket with textured sides.",
+    "Grab both the slice-shaped bread and the bread with firm crust edges, drop into the woven light beige breadbasket.",
+    "Lift the golden crusted bread slice and the bread with firm crust edges with two arms, put in the rectangular breadbasket.",
+    "Take the square loaf of bread and the bread with firm crust edges to the light beige rectangular breadbasket",
+    "Lift the golden bread and the bread loaf with square shape at once with the right arm, then set them in the medium rectangular breadbasket.",
+    "Grab the soft golden baked bread and the bread with golden surface color quickly and drop them into the beige breadbasket for holding bread.",
+    "Take the golden bread and the brown bread loaf, place them inside the plastic mesh breadbasket.",
+    "Pick the brown bread loaf and the slice-shaped bread, place them in the plastic mesh breadbasket.",
+    "Simultaneously grab the bread loaf with square shape and the bread with firm crust edges using the right arm, then drop them in the light beige rectangular breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the bread with rounded corners, drop in the breadbasket with textured sides.",
+    "Shift the soft golden baked bread and the golden bread together to the plastic mesh breadbasket.",
+    "Pick up both the golden crusted bread slice and the slice-shaped bread, then place them in the textured beige breadbasket.",
+    "Put the golden crusted bread slice and the bread with firm crust edges into the breadbasket for bread storage using two arms.",
+    "Move the square loaf of bread and the soft golden baked bread to the plastic mesh breadbasket",
+    "Pick the golden crusted bread slice and the golden crusted bread slice and set them in the breadbasket for bread storage.",
+    "Simultaneously use the right arm to drop the brown bread loaf and the brown bread loaf in the plastic breadbasket with mesh sides.",
+    "Take the golden brown loaf-shaped bread and the golden crusted bread slice together and place them into the plastic mesh breadbasket.",
+    "Use both arms to move the slice-shaped bread, the bread with firm crust edges to the rectangular breadbasket.",
+    "Pick the bread with rounded corners and the golden brown loaf-shaped bread for the the breadbasket for bread storage",
+    "Place the bread with firm crust edges and the bread with firm crust edges in the rectangular breadbasket using the right arm",
+    "Take the bread with rounded corners and the bread loaf with square shape then place in the woven light beige breadbasket.",
+    "Move the bread with firm crust edges and the golden bread at once into the beige breadbasket for holding bread.",
+    "Use two arms and set the bread with rounded corners, the square loaf of bread in the rectangular breadbasket.",
+    "Grab two breads the bread with golden surface color and the square loaf of bread and place in the textured beige breadbasket.",
+    "Shift the bread loaf with square shape and the square loaf of bread into the breadbasket with textured sides",
+    "Use the right arm to place the soft golden baked bread and the slice-shaped bread into the woven light beige breadbasket.",
+    "Grab both the golden brown loaf-shaped bread and the bread with firm crust edges with the right arm and place in the light beige rectangular breadbasket.",
+    "Grab both the bread with rounded corners and the square loaf of bread, drop into the medium rectangular breadbasket.",
+    "Lift the brown bread loaf and the bread with rounded corners with two arms, put in the light beige rectangular breadbasket.",
+    "Take the bread with firm crust edges and the bread with golden surface color to the plastic breadbasket with mesh sides",
+    "Lift the slice-shaped bread and the golden bread at once with the right arm, then set them in the textured beige breadbasket.",
+    "Grab the golden bread and the soft golden baked bread quickly and drop them into the beige breadbasket.",
+    "Take the golden crusted bread slice and the bread with golden surface color, place them inside the medium rectangular breadbasket.",
+    "Pick the golden brown loaf-shaped bread and the slice-shaped bread, place them in the beige breadbasket for holding bread.",
+    "Simultaneously grab the bread with golden surface color and the soft golden baked bread using the right arm, then drop them in the light beige rectangular breadbasket.",
+    "Simultaneously grab the slice-shaped bread and the soft golden baked bread, drop in the textured beige breadbasket.",
+    "Shift the rectangular bread soft inside and the brown bread loaf together to the plastic breadbasket with mesh sides.",
+    "Pick up both the bread loaf with square shape and the golden brown loaf-shaped bread, then place them in the breadbasket with textured sides.",
+    "Put the square loaf of bread and the bread with rounded corners into the textured beige breadbasket using two arms.",
+    "Move the golden brown loaf-shaped bread and the bread with firm crust edges to the light and textured breadbasket",
+    "Pick the bread with golden surface color and the bread with golden surface color and set them in the medium rectangular breadbasket.",
+    "Simultaneously use the right arm to drop the square loaf of bread and the soft golden baked bread in the beige breadbasket.",
+    "Take the square loaf of bread and the bread with golden surface color together and place them into the woven light beige breadbasket.",
+    "Use both arms to move the rectangular bread soft inside, the golden crusted bread slice to the rectangular breadbasket.",
+    "Pick the slice-shaped bread and the golden crusted bread slice for the the breadbasket with textured sides",
+    "Place the slice-shaped bread and the square loaf of bread in the beige breadbasket for holding bread using the right arm",
+    "Take the golden bread and the golden bread then place in the light and textured breadbasket.",
+    "Move the rectangular bread soft inside and the soft golden baked bread at once into the plastic mesh breadbasket.",
+    "Use two arms and set the golden brown loaf-shaped bread, the golden brown loaf-shaped bread in the breadbasket with textured sides.",
+    "Grab two breads the brown bread loaf and the bread with golden surface color and place in the breadbasket for bread storage.",
+    "Shift the golden crusted bread slice and the golden brown loaf-shaped bread into the medium rectangular breadbasket",
+    "Use the right arm to place the golden bread and the bread with golden surface color into the breadbasket with textured sides.",
+    "Grab both the golden brown loaf-shaped bread and the golden bread with the right arm and place in the beige breadbasket.",
+    "Grab both the bread with golden surface color and the bread with firm crust edges, drop into the woven light beige breadbasket.",
+    "Lift the rectangular bread soft inside and the square loaf of bread with two arms, put in the woven light beige breadbasket.",
+    "Take the golden crusted bread slice and the soft golden baked bread to the medium rectangular breadbasket",
+    "Lift the golden bread and the golden crusted bread slice at once with the right arm, then set them in the breadbasket with textured sides.",
+    "Grab the brown bread loaf and the square loaf of bread quickly and drop them into the textured beige breadbasket.",
+    "Take the rectangular bread soft inside and the bread with golden surface color, place them inside the light beige rectangular breadbasket.",
+    "Pick the square loaf of bread and the square loaf of bread, place them in the textured beige breadbasket.",
+    "Simultaneously grab the golden bread and the rectangular bread soft inside using the right arm, then drop them in the plastic mesh breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the square loaf of bread, drop in the plastic mesh breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the bread loaf medium-sized and the bread loaf medium-sized, then place them in the woven shallow breadbasket.",
+    "Place the small loaf-shaped bread and the soft rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the soft rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Pick the bread loaf medium-sized and the soft rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the small loaf-shaped bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the bread loaf medium-sized, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the bread loaf medium-sized, then place them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the bread loaf medium-sized into the shallow rectangular breadbasket using the right arm",
+    "Use the right arm to pick the bread loaf medium-sized and the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and drop them into the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and the soft rectangular bread loaf and place them in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the soft rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the small loaf-shaped bread into the shallow rectangular breadbasket using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the bread loaf medium-sized and place in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Pick the bread loaf medium-sized and the bread loaf medium-sized and place them in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and drop it into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the soft rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the soft rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the soft rectangular bread loaf into the breadbasket with woven pattern using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the small loaf-shaped bread and place in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and drop them into the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the small loaf-shaped bread and place them in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the soft rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the soft rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the small loaf-shaped bread into the woven shallow breadbasket using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the small loaf-shaped bread and place in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and drop them into the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and the bread loaf medium-sized and place them in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and drop it into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the small loaf-shaped bread and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the small loaf-shaped bread, then place them in the shallow rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the bread loaf medium-sized into the woven shallow breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the soft rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and drop them into the woven shallow breadbasket.",
+    "Pick the soft rectangular bread loaf and the bread loaf medium-sized and place them in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the small loaf-shaped bread and the bread loaf medium-sized, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the small loaf-shaped bread and the soft rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread and the soft rectangular bread loaf into the breadbasket with woven pattern using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the soft rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and drop them into the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and the soft rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the small loaf-shaped bread and the soft rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized and the soft rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread and the soft rectangular bread loaf into the breadbasket with woven pattern using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the small loaf-shaped bread and place in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and drop them into the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and the soft rectangular bread loaf and place them in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the small loaf-shaped bread, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the soft rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the soft rectangular bread loaf into the shallow rectangular breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the bread loaf medium-sized and place in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and drop them into the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and the small loaf-shaped bread and place them in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the small loaf-shaped bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the small loaf-shaped bread and the soft rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the bread loaf medium-sized and the small loaf-shaped bread, then place them in the shallow rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the soft rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Use the right arm to pick the small loaf-shaped bread and the small loaf-shaped bread and place in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and drop them into the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and the small loaf-shaped bread and place them in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and drop it into the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread loaf medium-sized, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the soft rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Place the bread loaf medium-sized and the small loaf-shaped bread into the woven shallow breadbasket using the right arm",
+    "Use the right arm to pick the soft rectangular bread loaf and the soft rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and drop them into the breadbasket with woven pattern.",
+    "Pick the bread loaf medium-sized and the small loaf-shaped bread and place them in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf with two arms, place in the woven shallow breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode8.json b/place_bread_basket/demo_clean/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..df94c5a8a2dfbffa0a7b7c54e709e6fd0abe891d
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the golden brown loaf-shaped bread and the smooth loaf with rounded edges for the the light brown basket for bread",
+    "Grab the golden crusted bread slice and the small golden brown bread quickly and drop them into the light brown basket for bread.",
+    "Shift the bread loaf with square shape and the bread with split top into the brown breadbasket with rounded corners",
+    "Lift the bread with rounded corners and the small loaf with curved top with two arms, put in the breadbasket with rounded edges.",
+    "Put the square loaf of bread and the bread with golden-brown crust into the smooth textured brown breadbasket using two arms.",
+    "Grab both the slice-shaped bread and the small loaf with curved top, drop into the light brown wicker breadbasket.",
+    "Grab both the golden crusted bread slice and the bread with warm golden color with the left arm and place in the breadbasket with smooth woven texture.",
+    "Pick up both the bread with firm crust edges and the bread with golden-brown crust, then place them in the breadbasket for holding bread.",
+    "Simultaneously grab the slice-shaped bread and the bread with split top, drop in the brown breadbasket with rounded corners.",
+    "Pick the golden bread and the bread with warm golden color and set them in the breadbasket for holding bread.",
+    "Simultaneously grab the golden crusted bread slice and the soft brown bread using the left arm, then drop them in the brown breadbasket with rounded corners.",
+    "Shift the golden bread and the golden bread loaf together to the woven rectangular breadbasket.",
+    "Grab two breads the square loaf of bread and the golden bread loaf and place in the brown breadbasket.",
+    "Move the rectangular bread soft inside and the bread with warm golden color to the brown breadbasket",
+    "Lift the golden brown loaf-shaped bread and the bread with split top at once with the left arm, then set them in the brown breadbasket.",
+    "Use the left arm to place the bread loaf with square shape and the golden bread loaf into the breadbasket with wicker weave pattern.",
+    "Move the bread loaf with square shape and the small loaf with curved top at once into the light brown basket for bread.",
+    "Pick the square loaf of bread and the soft brown bread, place them in the light brown wicker breadbasket.",
+    "Take the bread with golden surface color and the light brown loaf with smooth sides, place them inside the breadbasket with wicker weave pattern.",
+    "Use two arms and set the slice-shaped bread, the small loaf with curved top in the breadbasket with smooth woven texture.",
+    "Take the golden bread and the brown loaf then place in the breadbasket with wicker weave pattern.",
+    "Simultaneously use the left arm to drop the brown bread loaf and the bread with warm golden color in the smooth textured brown breadbasket.",
+    "Use both arms to move the bread with golden surface color, the light brown bread with ridges to the smooth textured brown breadbasket.",
+    "Take the bread loaf with square shape and the small golden brown bread together and place them into the breadbasket with rounded edges.",
+    "Take the bread with rounded corners and the light brown bread with ridges to the medium-sized rectangular breadbasket",
+    "Place the bread with firm crust edges and the light brown bread with ridges in the breadbasket with rounded edges using the left arm",
+    "Pick the golden crusted bread slice and the smooth loaf with rounded edges for the the breadbasket with smooth woven texture",
+    "Grab the golden brown loaf-shaped bread and the bread with golden-brown crust quickly and drop them into the medium woven breadbasket.",
+    "Shift the bread with golden surface color and the light brown bread with ridges into the light brown wicker breadbasket",
+    "Lift the golden brown loaf-shaped bread and the small loaf with curved top with two arms, put in the medium-sized rectangular breadbasket.",
+    "Put the bread with rounded corners and the light brown loaf with smooth sides into the breadbasket with wicker weave pattern using two arms.",
+    "Grab both the brown bread loaf and the light brown loaf with smooth sides, drop into the medium woven breadbasket.",
+    "Grab both the golden crusted bread slice and the bread with split top with the left arm and place in the smooth textured brown breadbasket.",
+    "Pick up both the golden crusted bread slice and the light brown loaf with smooth sides, then place them in the light brown basket for bread.",
+    "Simultaneously grab the brown bread loaf and the bread with golden-brown crust, drop in the breadbasket with wicker weave pattern.",
+    "Pick the bread with rounded corners and the light brown loaf with smooth sides and set them in the breadbasket with smooth woven texture.",
+    "Simultaneously grab the bread loaf with square shape and the bread with warm golden color using the left arm, then drop them in the breadbasket with wicker weave pattern.",
+    "Shift the bread with firm crust edges and the light brown bread with ridges together to the brown breadbasket with rounded corners.",
+    "Grab two breads the soft golden baked bread and the light brown bread with ridges and place in the brown breadbasket with rounded corners.",
+    "Move the rectangular bread soft inside and the small golden brown bread to the breadbasket for holding bread",
+    "Lift the bread loaf with square shape and the bread with golden-brown crust at once with the left arm, then set them in the light brown basket for bread.",
+    "Use the left arm to place the golden bread and the light brown loaf with smooth sides into the breadbasket with smooth woven texture.",
+    "Move the golden crusted bread slice and the bread with golden-brown crust at once into the light brown wicker breadbasket.",
+    "Pick the brown bread loaf and the smooth loaf with rounded edges, place them in the smooth textured brown breadbasket.",
+    "Take the square loaf of bread and the brown loaf, place them inside the light brown basket for bread.",
+    "Use two arms and set the soft golden baked bread, the hand-sized oval loaf in the light brown basket for bread.",
+    "Take the slice-shaped bread and the soft brown bread then place in the woven rectangular breadbasket.",
+    "Simultaneously use the left arm to drop the soft golden baked bread and the soft brown bread in the woven rectangular breadbasket.",
+    "Use both arms to move the golden brown loaf-shaped bread, the brown loaf to the breadbasket with rounded edges.",
+    "Take the brown bread loaf and the small golden brown bread together and place them into the medium woven breadbasket.",
+    "Take the bread loaf with square shape and the small loaf with curved top to the light brown wicker breadbasket",
+    "Place the golden brown loaf-shaped bread and the bread with split top in the smooth textured brown breadbasket using the left arm",
+    "Pick the brown bread loaf and the bread with golden-brown crust for the the brown breadbasket with rounded corners",
+    "Grab the bread loaf with square shape and the soft brown bread quickly and drop them into the breadbasket with smooth woven texture.",
+    "Shift the bread loaf with square shape and the bread with golden-brown crust into the breadbasket with wicker weave pattern",
+    "Lift the golden brown loaf-shaped bread and the bread with warm golden color with two arms, put in the brown breadbasket with rounded corners.",
+    "Put the bread with firm crust edges and the bread with warm golden color into the woven rectangular breadbasket using two arms.",
+    "Grab both the bread loaf with square shape and the light brown loaf with smooth sides, drop into the breadbasket with wicker weave pattern.",
+    "Grab both the brown bread loaf and the light brown loaf with smooth sides with the left arm and place in the medium woven breadbasket.",
+    "Pick up both the brown bread loaf and the golden bread loaf, then place them in the woven rectangular breadbasket.",
+    "Simultaneously grab the golden bread and the light brown loaf with smooth sides, drop in the breadbasket with rounded edges.",
+    "Pick the bread with golden surface color and the brown loaf and set them in the brown breadbasket with rounded corners.",
+    "Simultaneously grab the rectangular bread soft inside and the small golden brown bread using the left arm, then drop them in the breadbasket with smooth woven texture.",
+    "Shift the bread loaf with square shape and the smooth loaf with rounded edges together to the smooth textured brown breadbasket.",
+    "Grab two breads the bread with rounded corners and the bread with split top and place in the smooth textured brown breadbasket.",
+    "Move the bread loaf with square shape and the bread with warm golden color to the smooth textured brown breadbasket",
+    "Lift the rectangular bread soft inside and the brown loaf at once with the left arm, then set them in the breadbasket for holding bread.",
+    "Use the left arm to place the soft golden baked bread and the bread with golden-brown crust into the medium woven breadbasket.",
+    "Move the square loaf of bread and the smooth loaf with rounded edges at once into the light brown wicker breadbasket.",
+    "Pick the golden crusted bread slice and the small golden brown bread, place them in the brown breadbasket.",
+    "Take the slice-shaped bread and the brown loaf, place them inside the brown breadbasket with rounded corners.",
+    "Use two arms and set the golden crusted bread slice, the light brown bread with ridges in the breadbasket for holding bread.",
+    "Take the soft golden baked bread and the bread with warm golden color then place in the breadbasket with rounded edges.",
+    "Simultaneously use the left arm to drop the bread with firm crust edges and the light brown loaf with smooth sides in the light brown basket for bread.",
+    "Use both arms to move the square loaf of bread, the bread with golden-brown crust to the light brown basket for bread.",
+    "Take the bread with rounded corners and the smooth loaf with rounded edges together and place them into the breadbasket with wicker weave pattern.",
+    "Take the soft golden baked bread and the bread with golden-brown crust to the breadbasket with rounded edges",
+    "Place the brown bread loaf and the golden bread loaf in the medium woven breadbasket using the left arm",
+    "Pick the bread with firm crust edges and the soft brown bread for the the breadbasket with wicker weave pattern",
+    "Grab the slice-shaped bread and the small golden brown bread quickly and drop them into the breadbasket for holding bread.",
+    "Shift the bread with rounded corners and the light brown loaf with smooth sides into the breadbasket with rounded edges",
+    "Lift the bread with golden surface color and the hand-sized oval loaf with two arms, put in the breadbasket for holding bread.",
+    "Put the golden crusted bread slice and the bread with golden-brown crust into the medium woven breadbasket using two arms.",
+    "Grab both the golden bread and the small golden brown bread, drop into the smooth textured brown breadbasket.",
+    "Grab both the soft golden baked bread and the smooth loaf with rounded edges with the left arm and place in the brown breadbasket.",
+    "Pick up both the brown bread loaf and the bread with split top, then place them in the medium-sized rectangular breadbasket.",
+    "Simultaneously grab the bread with rounded corners and the small golden brown bread, drop in the medium woven breadbasket.",
+    "Pick the golden bread and the small golden brown bread and set them in the breadbasket with rounded edges.",
+    "Simultaneously grab the golden crusted bread slice and the light brown bread with ridges using the left arm, then drop them in the brown breadbasket.",
+    "Shift the bread with golden surface color and the small golden brown bread together to the brown breadbasket.",
+    "Grab two breads the square loaf of bread and the golden bread loaf and place in the breadbasket with wicker weave pattern.",
+    "Move the golden crusted bread slice and the light brown loaf with smooth sides to the medium-sized rectangular breadbasket",
+    "Lift the rectangular bread soft inside and the small loaf with curved top at once with the left arm, then set them in the smooth textured brown breadbasket.",
+    "Use the left arm to place the bread with firm crust edges and the hand-sized oval loaf into the medium-sized rectangular breadbasket.",
+    "Move the rectangular bread soft inside and the light brown bread with ridges at once into the breadbasket with smooth woven texture.",
+    "Pick the soft golden baked bread and the light brown bread with ridges, place them in the breadbasket with rounded edges.",
+    "Take the brown bread loaf and the small golden brown bread, place them inside the light brown basket for bread.",
+    "Use two arms and set the square loaf of bread, the soft brown bread in the medium woven breadbasket.",
+    "Take the golden brown loaf-shaped bread and the soft brown bread then place in the breadbasket for holding bread.",
+    "Simultaneously use the left arm to drop the slice-shaped bread and the light brown bread with ridges in the light brown basket for bread."
+  ],
+  "unseen": [
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the rectangular breadbasket using the left arm",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and drop them into the rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and put them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Use the left arm to pick up the soft rectangular bread loaf and the rounded oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the rounded oval bread and place in the rectangular light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the medium light brown breadbasket using the left arm",
+    "Pick the small loaf-shaped bread and the oval bread and place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and put them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop it into the medium light brown breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the oval-shaped soft bread, then place them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread with two arms, place in the rectangular breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the rounded oval bread and place in the rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the oval-shaped soft bread into the medium light brown breadbasket using the left arm",
+    "Pick the bread loaf medium-sized and the rounded oval bread and place them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the rounded oval bread, drop in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and put them in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and drop it into the medium light brown breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the oval-shaped soft bread, then place them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and the rounded oval bread and place in the rectangular light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the rectangular light brown breadbasket using the left arm",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop them into the rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and put them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop it into the medium light brown breadbasket.",
+    "Use the left arm to pick up the soft rectangular bread loaf and the rounded oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and the rounded oval bread and place in the medium light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the oval bread into the medium light brown breadbasket using the left arm",
+    "Pick the small loaf-shaped bread and the oval-shaped soft bread and place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop it into the rectangular light brown breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the rounded oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the medium light brown breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the rounded oval bread and place in the medium light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the rectangular light brown breadbasket using the left arm",
+    "Pick the small loaf-shaped bread and the oval-shaped soft bread and place them in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval bread, drop in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and put them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop it into the medium light brown breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the oval-shaped soft bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the bread loaf medium-sized and the oval bread and place in the rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the oval bread into the rectangular breadbasket using the left arm",
+    "Pick the bread loaf medium-sized and the rounded oval bread and place them in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval bread, drop in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and put them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop it into the medium light brown breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the rounded oval bread, then place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread with two arms, place in the medium light brown breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and the oval bread and place in the rectangular light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the oval bread into the rectangular light brown breadbasket using the left arm",
+    "Pick the bread loaf medium-sized and the rounded oval bread and place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop it into the medium light brown breadbasket.",
+    "Use the left arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and the oval bread and place in the medium light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the rounded oval bread into the medium light brown breadbasket using the left arm",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval-shaped soft bread, drop in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and put them in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop it into the rectangular breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the oval bread, then place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the bread loaf medium-sized and the oval bread and place in the medium light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the medium light brown breadbasket using the left arm",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the rounded oval bread, drop in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop it into the rectangular breadbasket.",
+    "Use the left arm to pick up the soft rectangular bread loaf and the rounded oval bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the rectangular breadbasket.",
+    "Use the left arm to pick the bread loaf medium-sized and the oval-shaped soft bread and place in the rectangular breadbasket.",
+    "Place the soft rectangular bread loaf and the rounded oval bread into the rectangular light brown breadbasket using the left arm",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval-shaped soft bread, drop in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and put them in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and drop it into the medium light brown breadbasket.",
+    "Use the left arm to pick up the soft rectangular bread loaf and the oval-shaped soft bread, then place them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread with two arms, place in the medium light brown breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and the rounded oval bread and place in the rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the oval bread into the rectangular light brown breadbasket using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/instructions/episode9.json b/place_bread_basket/demo_clean/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e9e424767800955461a964f96da26da797cc5f
--- /dev/null
+++ b/place_bread_basket/demo_clean/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the golden brown bread with braided design for the breadbasket with flat base with the right arm",
+    "Lift the small bread and set it in the breadbasket for dough.",
+    "Grab the smooth crusty small bread, drop it into the medium breadbasket.",
+    "Use the right arm to grab the soft golden bread for the breadbasket made of woven wood",
+    "Pick up the smooth crusty small bread and drop it in the spiral ridged breadbasket.",
+    "Use the right arm to grab the soft doughy bread and drop it inside the spiral ridged breadbasket.",
+    "Grab the soft doughy bread with an arm and set in the breadbasket shaped like a bowl.",
+    "Pick the soft golden bread and move it to the spiral ridged breadbasket.",
+    "Pick the small bread and put it into the breadbasket with spiral lines.",
+    "Lift the bread with golden crust and transfer to the breadbasket with spiral lines.",
+    "Put the smooth crusty small bread into the breadbasket made of woven wood using an arm.",
+    "Pick up the golden bread loaf with soft inside and put it in the breadbasket shaped like a bowl.",
+    "Put the round bread with braided top into the breadbasket with spiral lines after grabbing it.",
+    "Drop the round bread with braided top into the medium breadbasket",
+    "Move the soft doughy bread to the medium breadbasket using one arm.",
+    "Grab the small bread with one hand and set it in the breadbasket with flat base.",
+    "Grab the small bread with the right arm and drop it in the breadbasket with flat base.",
+    "Grab the golden brown bread for the medium breadbasket with the right arm",
+    "Lift the small bread and set it in the round breadbasket.",
+    "Grab the round bread with crusty texture, drop it into the smooth beige breadbasket.",
+    "Use the right arm to grab the smooth crusty small bread for the spiral ridged breadbasket",
+    "Pick up the golden brown bread with braided design and drop it in the medium breadbasket.",
+    "Use the right arm to grab the small bread and drop it inside the breadbasket shaped like a bowl.",
+    "Grab the golden brown bread with braided design with an arm and set in the medium breadbasket.",
+    "Pick the golden bread loaf with soft inside and move it to the breadbasket for baking.",
+    "Pick the soft doughy bread and put it into the smooth beige breadbasket.",
+    "Lift the bread with golden crust and transfer to the breadbasket for baking.",
+    "Put the small golden baked bread into the palm-sized breadbasket using an arm.",
+    "Pick up the golden brown bread with braided design and put it in the breadbasket made of woven wood.",
+    "Put the round bread with braided top into the breadbasket with spiral lines after grabbing it.",
+    "Drop the soft doughy bread into the breadbasket for baking",
+    "Move the small bread to the breadbasket made of woven wood using one arm.",
+    "Grab the golden brown bread with one hand and set it in the medium breadbasket.",
+    "Grab the smooth crusty small bread with the right arm and drop it in the breadbasket for dough.",
+    "Grab the soft golden bread for the smooth beige breadbasket with the right arm",
+    "Lift the bread with golden crust and set it in the breadbasket with flat base.",
+    "Grab the smooth crusty small bread, drop it into the breadbasket made of woven wood.",
+    "Use the right arm to grab the bread with golden crust for the palm-sized breadbasket",
+    "Pick up the smooth crusty small bread and drop it in the breadbasket for dough.",
+    "Use the right arm to grab the round bread with braided top and drop it inside the breadbasket for dough.",
+    "Grab the smooth crusty small bread with an arm and set in the breadbasket for baking.",
+    "Pick the golden brown bread with braided design and move it to the breadbasket with flat base.",
+    "Pick the braided bread loaf and put it into the spiral ridged breadbasket.",
+    "Lift the bread with golden crust and transfer to the breadbasket for dough.",
+    "Put the golden brown bread into the wooden breadbasket using an arm.",
+    "Pick up the round bread with crusty texture and put it in the wooden breadbasket.",
+    "Put the golden brown bread with braided design into the wooden breadbasket after grabbing it.",
+    "Drop the golden brown bread into the medium breadbasket",
+    "Move the smooth crusty small bread to the spiral ridged breadbasket using one arm.",
+    "Grab the bread with golden crust with one hand and set it in the palm-sized breadbasket.",
+    "Grab the smooth crusty small bread with the right arm and drop it in the breadbasket with flat base.",
+    "Grab the golden bread loaf with soft inside for the breadbasket with spiral lines with the right arm",
+    "Lift the golden brown bread with braided design and set it in the smooth beige breadbasket.",
+    "Grab the golden brown bread with braided design, drop it into the breadbasket for dough.",
+    "Use the right arm to grab the soft golden bread for the breadbasket for baking",
+    "Pick up the round bread with crusty texture and drop it in the breadbasket with spiral lines.",
+    "Use the right arm to grab the bread with golden crust and drop it inside the breadbasket made of woven wood.",
+    "Grab the golden brown bread with an arm and set in the breadbasket for baking.",
+    "Pick the small bread and move it to the wooden breadbasket.",
+    "Pick the braided bread loaf and put it into the spiral ridged breadbasket.",
+    "Lift the round bread with braided top and transfer to the breadbasket with spiral lines.",
+    "Put the round bread with crusty texture into the palm-sized breadbasket using an arm.",
+    "Pick up the braided bread loaf and put it in the breadbasket with spiral lines.",
+    "Put the small bread into the breadbasket with flat base after grabbing it.",
+    "Drop the small bread into the spiral ridged breadbasket",
+    "Move the small golden baked bread to the breadbasket made of woven wood using one arm.",
+    "Grab the golden bread loaf with soft inside with one hand and set it in the breadbasket with flat base.",
+    "Grab the small bread with the right arm and drop it in the breadbasket made of woven wood.",
+    "Grab the golden brown bread with braided design for the breadbasket with flat base with the right arm",
+    "Lift the soft golden bread and set it in the round breadbasket.",
+    "Grab the small golden baked bread, drop it into the breadbasket for baking.",
+    "Use the right arm to grab the bread with golden crust for the breadbasket with flat base",
+    "Pick up the braided bread loaf and drop it in the spiral ridged breadbasket.",
+    "Use the right arm to grab the golden bread loaf with soft inside and drop it inside the breadbasket for dough.",
+    "Grab the braided bread loaf with an arm and set in the round breadbasket.",
+    "Pick the round bread with crusty texture and move it to the breadbasket with spiral lines.",
+    "Pick the golden bread loaf with soft inside and put it into the wooden breadbasket.",
+    "Lift the round bread with crusty texture and transfer to the medium breadbasket.",
+    "Put the soft doughy bread into the breadbasket for baking using an arm.",
+    "Pick up the golden brown bread and put it in the round breadbasket.",
+    "Put the small bread into the breadbasket for baking after grabbing it.",
+    "Drop the golden brown bread into the breadbasket with flat base",
+    "Move the golden brown bread to the wooden breadbasket using one arm.",
+    "Grab the round bread with braided top with one hand and set it in the breadbasket with spiral lines.",
+    "Grab the small bread with the right arm and drop it in the breadbasket shaped like a bowl.",
+    "Grab the braided bread loaf for the spiral ridged breadbasket with the right arm",
+    "Lift the bread with golden crust and set it in the spiral ridged breadbasket.",
+    "Grab the golden brown bread with braided design, drop it into the breadbasket with flat base.",
+    "Use the right arm to grab the small golden baked bread for the medium breadbasket",
+    "Pick up the bread with golden crust and drop it in the breadbasket for baking.",
+    "Use the right arm to grab the soft doughy bread and drop it inside the round breadbasket.",
+    "Grab the braided bread loaf with an arm and set in the round breadbasket.",
+    "Pick the round bread with braided top and move it to the breadbasket shaped like a bowl.",
+    "Pick the soft doughy bread and put it into the palm-sized breadbasket.",
+    "Lift the small bread and transfer to the wooden breadbasket.",
+    "Put the golden brown bread into the smooth beige breadbasket using an arm.",
+    "Pick up the soft doughy bread and put it in the wooden breadbasket.",
+    "Put the round bread with crusty texture into the spiral ridged breadbasket after grabbing it.",
+    "Drop the soft golden bread into the smooth beige breadbasket",
+    "Move the golden brown bread with braided design to the breadbasket made of woven wood using one arm."
+  ],
+  "unseen": [
+    "Pick the round braided loaf and place it in the beige breadbasket.",
+    "Grab the braided top round bread and drop it into the round beige breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the round beige breadbasket.",
+    "Grab the round braided loaf with one arm, place in the beige breadbasket.",
+    "Place the palm-sized braided golden bread into the round beige breadbasket using the right arm",
+    "Use one arm to grab the round braided loaf, drop in the light wooden breadbasket.",
+    "Pick the round braided loaf and drop it in the light wooden breadbasket",
+    "Use the right arm to pick up the palm-sized braided golden bread, then place it in the beige breadbasket.",
+    "Grab the braided top round bread and drop it into the round beige breadbasket.",
+    "Grab the braided top round bread and put it in the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and place it in the round beige breadbasket.",
+    "Grab the braided top round bread and drop it into the beige breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the beige breadbasket.",
+    "Grab the round braided loaf with one arm, place in the round beige breadbasket.",
+    "Place the round braided loaf into the round beige breadbasket using the right arm",
+    "Use one arm to grab the round braided loaf, drop in the light wooden breadbasket.",
+    "Pick the round braided loaf and drop it in the light wooden breadbasket",
+    "Use the right arm to pick up the round braided loaf, then place it in the light wooden breadbasket.",
+    "Grab the braided top round bread and drop it into the beige breadbasket.",
+    "Grab the round braided loaf and put it in the light wooden breadbasket.",
+    "Pick the round braided loaf and place it in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the round beige breadbasket.",
+    "Use the right arm to pick the round braided loaf and place in the beige breadbasket.",
+    "Grab the braided top round bread with one arm, place in the beige breadbasket.",
+    "Place the round braided loaf into the light wooden breadbasket using the right arm",
+    "Use one arm to grab the braided top round bread, drop in the beige breadbasket.",
+    "Pick the round braided loaf and drop it in the light wooden breadbasket",
+    "Use the right arm to pick up the braided top round bread, then place it in the light wooden breadbasket.",
+    "Grab the round braided loaf and drop it into the beige breadbasket.",
+    "Grab the round braided loaf and put it in the beige breadbasket.",
+    "Pick the braided top round bread and place it in the round beige breadbasket.",
+    "Grab the braided top round bread and drop it into the round beige breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread with one arm, place in the beige breadbasket.",
+    "Place the round braided loaf into the round beige breadbasket using the right arm",
+    "Use one arm to grab the braided top round bread, drop in the round beige breadbasket.",
+    "Pick the braided top round bread and drop it in the round beige breadbasket",
+    "Use the right arm to pick up the palm-sized braided golden bread, then place it in the round beige breadbasket.",
+    "Grab the braided top round bread and drop it into the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and put it in the beige breadbasket.",
+    "Pick the round braided loaf and place it in the round beige breadbasket.",
+    "Grab the round braided loaf and drop it into the beige breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Grab the braided top round bread with one arm, place in the round beige breadbasket.",
+    "Place the braided top round bread into the beige breadbasket using the right arm",
+    "Use one arm to grab the round braided loaf, drop in the beige breadbasket.",
+    "Pick the round braided loaf and drop it in the light wooden breadbasket",
+    "Use the right arm to pick up the braided top round bread, then place it in the light wooden breadbasket.",
+    "Grab the braided top round bread and drop it into the light wooden breadbasket.",
+    "Grab the round braided loaf and put it in the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and place it in the light wooden breadbasket.",
+    "Grab the braided top round bread and drop it into the beige breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the beige breadbasket.",
+    "Grab the braided top round bread with one arm, place in the round beige breadbasket.",
+    "Place the round braided loaf into the beige breadbasket using the right arm",
+    "Use one arm to grab the palm-sized braided golden bread, drop in the beige breadbasket.",
+    "Pick the round braided loaf and drop it in the round beige breadbasket",
+    "Use the right arm to pick up the round braided loaf, then place it in the round beige breadbasket.",
+    "Grab the round braided loaf and drop it into the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and put it in the round beige breadbasket.",
+    "Pick the round braided loaf and place it in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the light wooden breadbasket.",
+    "Use the right arm to pick the braided top round bread and place in the round beige breadbasket.",
+    "Grab the round braided loaf with one arm, place in the light wooden breadbasket.",
+    "Place the braided top round bread into the round beige breadbasket using the right arm",
+    "Use one arm to grab the braided top round bread, drop in the beige breadbasket.",
+    "Pick the round braided loaf and drop it in the round beige breadbasket",
+    "Use the right arm to pick up the round braided loaf, then place it in the beige breadbasket.",
+    "Grab the braided top round bread and drop it into the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and put it in the round beige breadbasket.",
+    "Pick the braided top round bread and place it in the beige breadbasket.",
+    "Grab the braided top round bread and drop it into the light wooden breadbasket.",
+    "Use the right arm to pick the braided top round bread and place in the round beige breadbasket.",
+    "Grab the round braided loaf with one arm, place in the round beige breadbasket.",
+    "Place the palm-sized braided golden bread into the light wooden breadbasket using the right arm",
+    "Use one arm to grab the palm-sized braided golden bread, drop in the beige breadbasket.",
+    "Pick the braided top round bread and drop it in the round beige breadbasket",
+    "Use the right arm to pick up the palm-sized braided golden bread, then place it in the beige breadbasket.",
+    "Grab the braided top round bread and drop it into the light wooden breadbasket.",
+    "Grab the round braided loaf and put it in the light wooden breadbasket.",
+    "Pick the braided top round bread and place it in the round beige breadbasket.",
+    "Grab the braided top round bread and drop it into the beige breadbasket.",
+    "Use the right arm to pick the round braided loaf and place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread with one arm, place in the beige breadbasket.",
+    "Place the palm-sized braided golden bread into the light wooden breadbasket using the right arm",
+    "Use one arm to grab the palm-sized braided golden bread, drop in the light wooden breadbasket.",
+    "Pick the round braided loaf and drop it in the light wooden breadbasket",
+    "Use the right arm to pick up the round braided loaf, then place it in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and put it in the light wooden breadbasket.",
+    "Pick the palm-sized braided golden bread and place it in the round beige breadbasket.",
+    "Grab the braided top round bread and drop it into the round beige breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread with one arm, place in the round beige breadbasket.",
+    "Place the round braided loaf into the round beige breadbasket using the right arm",
+    "Use one arm to grab the round braided loaf, drop in the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and drop it in the beige breadbasket",
+    "Use the right arm to pick up the palm-sized braided golden bread, then place it in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and put it in the light wooden breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_clean/scene_info.json b/place_bread_basket/demo_clean/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bd3ce1ddee894e0ade812c92642c49ac7a5fe3
--- /dev/null
+++ b/place_bread_basket/demo_clean/scene_info.json
@@ -0,0 +1,643 @@
+{
+  "episode_0": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_1": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base1",
+      "{a}": "dual",
+      "{C}": "075_bread/base1"
+    }
+  },
+  "episode_2": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base1",
+      "{a}": "dual",
+      "{C}": "075_bread/base5"
+    }
+  },
+  "episode_3": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base5",
+      "{a}": "dual",
+      "{C}": "075_bread/base5"
+    }
+  },
+  "episode_4": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base3",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_5": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base4",
+      "{B}": "075_bread/base0",
+      "{a}": "left",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_6": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base5",
+      "{a}": "right"
+    }
+  },
+  "episode_7": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base6",
+      "{a}": "right",
+      "{C}": "075_bread/base6"
+    }
+  },
+  "episode_8": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base6",
+      "{a}": "left",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_9": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base4",
+      "{B}": "075_bread/base0",
+      "{a}": "right"
+    }
+  },
+  "episode_10": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
+      "{B}": "075_bread/base1",
+      "{a}": "dual",
+      "{C}": "075_bread/base5"
+    }
+  },
+  "episode_11": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base5",
+      "{a}": "right"
+    }
+  },
+  "episode_12": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base6",
+      "{a}": "right",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_13": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_14": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_15": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base6",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_16": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base4",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base5"
+    }
+  },
+  "episode_17": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
+      "{B}": "075_bread/base1",
+      "{a}": "dual",
+      "{C}": "075_bread/base5"
+    }
+  },
+  "episode_18": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base5",
+      "{a}": "right",
+      "{C}": "075_bread/base0"
+    }
+  },
+  "episode_19": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base4",
+      "{B}": "075_bread/base1",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_20": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base1",
+      "{a}": "dual",
+      "{C}": "075_bread/base1"
+    }
+  },
+  "episode_21": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base3",
+      "{a}": "dual",
+      "{C}": "075_bread/base6"
+    }
+  },
+  "episode_22": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base3",
+      "{a}": "dual",
+      "{C}": "075_bread/base6"
+    }
+  },
+  "episode_23": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_24": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
+      "{B}": "075_bread/base6",
+      "{a}": "right",
+      "{C}": "075_bread/base0"
+    }
+  },
+  "episode_25": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base5",
+      "{a}": "right"
+    }
+  },
+  "episode_26": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base6",
+      "{a}": "right"
+    }
+  },
+  "episode_27": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base0"
+    }
+  },
+  "episode_28": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base6",
+      "{a}": "right",
+      "{C}": "075_bread/base1"
+    }
+  },
+  "episode_29": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base6",
+      "{a}": "left",
+      "{C}": "075_bread/base0"
+    }
+  },
+  "episode_30": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base4",
+      "{B}": "075_bread/base6",
+      "{a}": "right",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_31": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
+      "{B}": "075_bread/base1",
+      "{a}": "left"
+    }
+  },
+  "episode_32": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base6",
+      "{a}": "dual",
+      "{C}": "075_bread/base0"
+    }
+  },
+  "episode_33": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base5",
+      "{a}": "right"
+    }
+  },
+  "episode_34": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base6",
+      "{a}": "right",
+      "{C}": "075_bread/base1"
+    }
+  },
+  "episode_35": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base0",
+      "{a}": "right",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_36": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base6"
+    }
+  },
+  "episode_37": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base1",
+      "{a}": "dual",
+      "{C}": "075_bread/base5"
+    }
+  },
+  "episode_38": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base3",
+      "{a}": "right"
+    }
+  },
+  "episode_39": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base6"
+    }
+  },
+  "episode_40": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base3",
+      "{B}": "075_bread/base3",
+      "{a}": "dual",
+      "{C}": "075_bread/base6"
+    }
+  },
+  "episode_41": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base1",
+      "{a}": "right"
+    }
+  },
+  "episode_42": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
+      "{B}": "075_bread/base5",
+      "{a}": "dual",
+      "{C}": "075_bread/base5"
+    }
+  },
+  "episode_43": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base4",
+      "{B}": "075_bread/base6",
+      "{a}": "right",
+      "{C}": "075_bread/base5"
+    }
+  },
+  "episode_44": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base1"
+    }
+  },
+  "episode_45": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base4",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base0"
+    }
+  },
+  "episode_46": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base6",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_47": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base1",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_48": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base0",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_49": {
+    "cluttered_table_info": [],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": null
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base0",
+      "{a}": "right",
+      "{C}": "075_bread/base5"
+    }
+  }
+}
diff --git a/place_bread_basket/demo_clean/seed.txt b/place_bread_basket/demo_clean/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d7df40e2f67f5d40350579f1012a78ac6ba4f19
--- /dev/null
+++ b/place_bread_basket/demo_clean/seed.txt
@@ -0,0 +1 @@
+0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 44 45 46 47 48 49 50
diff --git a/place_bread_basket/demo_randomized/instructions/episode0.json b/place_bread_basket/demo_randomized/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3041cd9b2c9f0902de5197667b1de17116d59bbc
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the bread with rounded edges and the golden bread in the beige breadbasket using the dual arm",
+    "Grab the bread with soft texture and the golden crusted bread slice quickly and drop them into the beige basket with white grid design.",
+    "Pick up both the medium-sized bread piece and the soft golden baked bread, then place them in the basket for carrying bread beige.",
+    "Lift the sponge-textured golden bread and the bread with golden surface color with two arms, put in the oval perforated breadbasket white edges.",
+    "Take the medium-sized bread piece and the bread with rounded corners then place in the smooth textured breadbasket.",
+    "Pick the light brown porous bread and the brown bread loaf, place them in the medium oval basket for bread.",
+    "Shift the rounded square loaf and the bread with rounded corners into the medium breadbasket with perforated sides",
+    "Take the soft square bread and the bread with firm crust edges to the basket for bread beige plastic",
+    "Move the medium-sized bread piece and the soft golden baked bread at once into the white oval breadbasket.",
+    "Lift the bread with soft texture and the slice-shaped bread at once with the dual arm, then set them in the basket for bread beige plastic.",
+    "Put the soft square bread and the soft golden baked bread into the basket for carrying bread beige using two arms.",
+    "Use the dual arm to place the golden baked bread and the golden brown loaf-shaped bread into the medium plastic breadbasket oval shape.",
+    "Grab both the fluffy baked bread and the golden bread, drop into the smooth textured breadbasket.",
+    "Grab both the bread with rounded edges and the bread loaf with square shape with the dual arm and place in the medium plastic breadbasket oval shape.",
+    "Take the medium bread with rounded sides and the square loaf of bread, place them inside the medium plastic breadbasket oval shape.",
+    "Pick the rounded square loaf and the square loaf of bread and set them in the basket for carrying bread beige.",
+    "Pick the golden baked bread and the brown bread loaf for the the basket for carrying bread beige",
+    "Simultaneously grab the soft square bread and the golden crusted bread slice using the dual arm, then drop them in the beige plastic breadbasket.",
+    "Simultaneously grab the sponge-textured golden bread and the rectangular bread soft inside, drop in the medium oval basket for bread.",
+    "Shift the medium bread with rounded sides and the slice-shaped bread together to the beige breadbasket.",
+    "Use two arms and set the soft square bread, the slice-shaped bread in the white oval breadbasket.",
+    "Simultaneously use the dual arm to drop the sponge-textured golden bread and the golden bread in the basket for bread beige plastic.",
+    "Move the medium bread with rounded sides and the golden crusted bread slice to the smooth textured breadbasket",
+    "Grab two breads the square-shaped bread piece and the bread with golden surface color and place in the basket for bread beige plastic.",
+    "Take the medium-sized bread piece and the slice-shaped bread together and place them into the medium oval basket for bread.",
+    "Use both arms to move the soft square bread, the golden bread to the oval perforated breadbasket white edges.",
+    "Place the medium-sized bread piece and the soft golden baked bread in the medium breadbasket with perforated sides using the dual arm",
+    "Grab the sponge-textured golden bread and the square loaf of bread quickly and drop them into the beige basket with white grid design.",
+    "Pick up both the golden baked bread and the rectangular bread soft inside, then place them in the medium plastic breadbasket oval shape.",
+    "Lift the golden brown bread and the bread with golden surface color with two arms, put in the oval-shaped breadbasket.",
+    "Take the soft square bread and the bread with firm crust edges then place in the beige breadbasket.",
+    "Pick the square-shaped bread piece and the bread loaf with square shape, place them in the medium plastic breadbasket oval shape.",
+    "Shift the bread with soft texture and the bread loaf with square shape into the medium oval basket for bread",
+    "Take the soft square bread and the bread with rounded corners to the basket for carrying bread beige",
+    "Move the bread with soft texture and the square loaf of bread at once into the white oval breadbasket.",
+    "Lift the light brown porous bread and the square loaf of bread at once with the dual arm, then set them in the oval perforated breadbasket white edges.",
+    "Put the rounded square loaf and the golden brown loaf-shaped bread into the smooth textured breadbasket using two arms.",
+    "Use the dual arm to place the golden brown bread and the brown bread loaf into the medium plastic breadbasket oval shape.",
+    "Grab both the bread with rounded edges and the soft golden baked bread, drop into the beige basket with white grid design.",
+    "Grab both the square-shaped bread piece and the bread loaf with square shape with the dual arm and place in the smooth textured breadbasket.",
+    "Take the soft square bread and the brown bread loaf, place them inside the basket for bread beige plastic.",
+    "Pick the bread with soft texture and the bread with rounded corners and set them in the oval-shaped breadbasket.",
+    "Pick the golden brown bread and the golden brown loaf-shaped bread for the the beige plastic breadbasket",
+    "Simultaneously grab the light brown porous bread and the rectangular bread soft inside using the dual arm, then drop them in the beige breadbasket.",
+    "Simultaneously grab the soft square bread and the golden brown loaf-shaped bread, drop in the beige breadbasket.",
+    "Shift the golden brown bread and the soft golden baked bread together to the basket for carrying bread beige.",
+    "Use two arms and set the fluffy baked bread, the golden crusted bread slice in the beige plastic breadbasket.",
+    "Simultaneously use the dual arm to drop the sponge-textured golden bread and the brown bread loaf in the medium plastic breadbasket oval shape.",
+    "Move the soft square bread and the golden brown loaf-shaped bread to the medium plastic breadbasket oval shape",
+    "Grab two breads the light brown porous bread and the rectangular bread soft inside and place in the oval-shaped breadbasket.",
+    "Take the sponge-textured golden bread and the bread with firm crust edges together and place them into the basket for bread beige plastic.",
+    "Use both arms to move the fluffy baked bread, the bread with golden surface color to the medium breadbasket with perforated sides.",
+    "Place the rounded square loaf and the golden bread in the oval-shaped breadbasket using the dual arm",
+    "Grab the sponge-textured golden bread and the bread with rounded corners quickly and drop them into the oval-shaped breadbasket.",
+    "Pick up both the bread with soft texture and the bread with rounded corners, then place them in the smooth textured breadbasket.",
+    "Lift the golden baked bread and the bread with golden surface color with two arms, put in the medium oval basket for bread.",
+    "Take the square-shaped bread piece and the slice-shaped bread then place in the basket for bread beige plastic.",
+    "Pick the bread with soft texture and the golden bread, place them in the smooth textured breadbasket.",
+    "Shift the rounded square loaf and the rectangular bread soft inside into the beige plastic breadbasket",
+    "Take the rounded square loaf and the rectangular bread soft inside to the medium plastic breadbasket oval shape",
+    "Move the sponge-textured golden bread and the brown bread loaf at once into the medium oval basket for bread.",
+    "Lift the square-shaped bread piece and the square loaf of bread at once with the dual arm, then set them in the smooth textured breadbasket.",
+    "Put the bread with rounded edges and the bread with rounded corners into the beige plastic breadbasket using two arms.",
+    "Use the dual arm to place the light brown porous bread and the brown bread loaf into the medium oval basket for bread.",
+    "Grab both the medium bread with rounded sides and the golden brown loaf-shaped bread, drop into the smooth textured breadbasket.",
+    "Grab both the sponge-textured golden bread and the golden crusted bread slice with the dual arm and place in the beige breadbasket.",
+    "Take the bread with rounded edges and the golden brown loaf-shaped bread, place them inside the basket for carrying bread beige.",
+    "Pick the fluffy baked bread and the soft golden baked bread and set them in the medium oval basket for bread.",
+    "Pick the fluffy baked bread and the bread with golden surface color for the the medium plastic breadbasket oval shape",
+    "Simultaneously grab the golden brown bread and the rectangular bread soft inside using the dual arm, then drop them in the basket for carrying bread beige.",
+    "Simultaneously grab the golden baked bread and the golden brown loaf-shaped bread, drop in the medium oval basket for bread.",
+    "Shift the medium-sized bread piece and the rectangular bread soft inside together to the beige breadbasket.",
+    "Use two arms and set the square-shaped bread piece, the bread with golden surface color in the medium breadbasket with perforated sides.",
+    "Simultaneously use the dual arm to drop the fluffy baked bread and the bread loaf with square shape in the oval-shaped breadbasket.",
+    "Move the square-shaped bread piece and the golden crusted bread slice to the oval perforated breadbasket white edges",
+    "Grab two breads the sponge-textured golden bread and the bread loaf with square shape and place in the white oval breadbasket.",
+    "Take the bread with rounded edges and the bread with rounded corners together and place them into the oval perforated breadbasket white edges.",
+    "Use both arms to move the soft square bread, the bread with golden surface color to the smooth textured breadbasket.",
+    "Place the light brown porous bread and the golden brown loaf-shaped bread in the oval-shaped breadbasket using the dual arm",
+    "Grab the fluffy baked bread and the square loaf of bread quickly and drop them into the basket for carrying bread beige.",
+    "Pick up both the rounded square loaf and the square loaf of bread, then place them in the oval perforated breadbasket white edges.",
+    "Lift the rounded square loaf and the bread loaf with square shape with two arms, put in the medium breadbasket with perforated sides.",
+    "Take the medium-sized bread piece and the golden bread then place in the beige plastic breadbasket.",
+    "Pick the bread with soft texture and the bread with firm crust edges, place them in the basket for carrying bread beige.",
+    "Shift the rounded square loaf and the golden crusted bread slice into the medium oval basket for bread",
+    "Take the golden baked bread and the golden brown loaf-shaped bread to the white oval breadbasket",
+    "Move the bread with soft texture and the golden crusted bread slice at once into the medium oval basket for bread.",
+    "Lift the bread with soft texture and the bread with golden surface color at once with the dual arm, then set them in the medium breadbasket with perforated sides.",
+    "Put the fluffy baked bread and the bread loaf with square shape into the oval-shaped breadbasket using two arms.",
+    "Use the dual arm to place the soft square bread and the golden crusted bread slice into the smooth textured breadbasket.",
+    "Grab both the medium bread with rounded sides and the golden crusted bread slice, drop into the medium oval basket for bread.",
+    "Grab both the soft square bread and the golden crusted bread slice with the dual arm and place in the smooth textured breadbasket.",
+    "Take the fluffy baked bread and the slice-shaped bread, place them inside the beige plastic breadbasket.",
+    "Pick the golden brown bread and the bread with golden surface color and set them in the beige basket with white grid design.",
+    "Pick the bread with soft texture and the square loaf of bread for the the medium oval basket for bread",
+    "Simultaneously grab the soft square bread and the bread with firm crust edges using the dual arm, then drop them in the oval-shaped breadbasket.",
+    "Simultaneously grab the medium-sized bread piece and the slice-shaped bread, drop in the white oval breadbasket.",
+    "Shift the rounded square loaf and the soft golden baked bread together to the medium plastic breadbasket oval shape.",
+    "Use two arms and set the light brown porous bread, the bread with rounded corners in the oval-shaped breadbasket.",
+    "Simultaneously use the dual arm to drop the square-shaped bread piece and the bread with firm crust edges in the oval perforated breadbasket white edges."
+  ],
+  "unseen": [
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the soft bread with golden edges and the bread loaf medium-sized and place in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the soft bread with golden edges and the small loaf-shaped bread, then place them in the breadbasket with hollowed white walls.",
+    "Pick the square bread with light spots and the small loaf-shaped bread and place them in the white basket with beige bottom.",
+    "Use one arm to grab the soft bread with golden edges and the soft rectangular bread loaf, drop in the breadbasket with hollowed white walls.",
+    "Place the soft bread with golden edges and the soft rectangular bread loaf into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the square bread with light spots and the small loaf-shaped bread and place in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the bread loaf medium-sized with two arms, place in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the soft bread with golden edges and the small loaf-shaped bread, then place them in the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and the soft rectangular bread loaf and place them in the white basket with beige bottom.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the breadbasket with smooth bottom grid sides.",
+    "Place the spongy golden brown bread and the soft rectangular bread loaf into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and put them in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the square bread with light spots and the bread loaf medium-sized and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the small loaf-shaped bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the spongy golden brown bread and the bread loaf medium-sized, then place them in the breadbasket with hollowed white walls.",
+    "Pick the spongy golden brown bread and the bread loaf medium-sized and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the spongy golden brown bread and the soft rectangular bread loaf, drop in the breadbasket with smooth bottom grid sides.",
+    "Place the spongy golden brown bread and the small loaf-shaped bread into the white basket with beige bottom using the dual arm",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and put them in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the soft bread with golden edges and the soft rectangular bread loaf and place in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the square bread with light spots and the soft rectangular bread loaf, then place them in the breadbasket with smooth bottom grid sides.",
+    "Pick the square bread with light spots and the small loaf-shaped bread and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the white basket with beige bottom.",
+    "Place the soft bread with golden edges and the small loaf-shaped bread into the white basket with beige bottom using the dual arm",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Use the dual arm to pick the square bread with light spots and the soft rectangular bread loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf with two arms, place in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the spongy golden brown bread and the soft rectangular bread loaf, then place them in the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and the bread loaf medium-sized and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the square bread with light spots and the bread loaf medium-sized, drop in the breadbasket with smooth bottom grid sides.",
+    "Place the spongy golden brown bread and the soft rectangular bread loaf into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the square bread with light spots and the small loaf-shaped bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop it into the white basket with beige bottom.",
+    "Use the dual arm to pick the spongy golden brown bread and the bread loaf medium-sized and place in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the small loaf-shaped bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the soft bread with golden edges and the bread loaf medium-sized, then place them in the breadbasket with smooth bottom grid sides.",
+    "Pick the spongy golden brown bread and the bread loaf medium-sized and place them in the white basket with beige bottom.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the breadbasket with smooth bottom grid sides.",
+    "Place the square bread with light spots and the small loaf-shaped bread into the white basket with beige bottom using the dual arm",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and put them in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the square bread with light spots and the small loaf-shaped bread and place in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the square bread with light spots and the small loaf-shaped bread, then place them in the breadbasket with hollowed white walls.",
+    "Pick the spongy golden brown bread and the bread loaf medium-sized and place them in the white basket with beige bottom.",
+    "Use one arm to grab the square bread with light spots and the soft rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Place the soft bread with golden edges and the bread loaf medium-sized into the white basket with beige bottom using the dual arm",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and put them in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the soft bread with golden edges and the small loaf-shaped bread and place in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the soft bread with golden edges and the bread loaf medium-sized, then place them in the breadbasket with hollowed white walls.",
+    "Pick the square bread with light spots and the bread loaf medium-sized and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft bread with golden edges and the soft rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Place the square bread with light spots and the bread loaf medium-sized into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and put them in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop it into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the spongy golden brown bread and the bread loaf medium-sized and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the square bread with light spots and the small loaf-shaped bread, then place them in the breadbasket with hollowed white walls.",
+    "Pick the soft bread with golden edges and the soft rectangular bread loaf and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the soft bread with golden edges and the soft rectangular bread loaf, drop in the breadbasket with smooth bottom grid sides.",
+    "Place the soft bread with golden edges and the bread loaf medium-sized into the white basket with beige bottom using the dual arm",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the square bread with light spots and the small loaf-shaped bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized with two arms, place in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the square bread with light spots and the bread loaf medium-sized, then place them in the breadbasket with smooth bottom grid sides.",
+    "Pick the square bread with light spots and the bread loaf medium-sized and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the white basket with beige bottom.",
+    "Place the spongy golden brown bread and the soft rectangular bread loaf into the white basket with beige bottom using the dual arm",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and put them in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop it into the white basket with beige bottom.",
+    "Use the dual arm to pick the soft bread with golden edges and the small loaf-shaped bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the bread loaf medium-sized with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the soft bread with golden edges and the soft rectangular bread loaf, then place them in the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and the small loaf-shaped bread and place them in the white basket with beige bottom.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the white basket with beige bottom.",
+    "Place the spongy golden brown bread and the bread loaf medium-sized into the white basket with beige bottom using the dual arm",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and put them in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop it into the white basket with beige bottom."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode1.json b/place_bread_basket/demo_randomized/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ae8dd8d8f365a976601188e4d9cbf2910e6ff75
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the bread with rounded edges into the oval-shaped breadbasket",
+    "Grab the fluffy baked bread, drop it into the beige plastic breadbasket.",
+    "Pick the golden brown bread and move it to the basket for bread beige plastic.",
+    "Pick up the fluffy baked bread and drop it in the medium plastic breadbasket oval shape.",
+    "Put the fluffy baked bread into the oval perforated breadbasket white edges after grabbing it.",
+    "Lift the medium bread with rounded sides and set it in the medium plastic breadbasket oval shape.",
+    "Use the right arm to grab the soft square bread for the medium breadbasket with perforated sides",
+    "Put the soft square bread into the oval-shaped breadbasket using an arm.",
+    "Pick up the fluffy baked bread and put it in the medium plastic breadbasket oval shape.",
+    "Grab the fluffy baked bread with an arm and set in the beige basket with white grid design.",
+    "Grab the golden brown bread with the right arm and drop it in the medium breadbasket with perforated sides.",
+    "Grab the bread with soft texture for the beige basket with white grid design with the right arm",
+    "Move the light brown porous bread to the beige breadbasket using one arm.",
+    "Grab the sponge-textured golden bread with one hand and set it in the basket for bread beige plastic.",
+    "Pick the soft square bread and put it into the beige basket with white grid design.",
+    "Use the right arm to grab the rounded square loaf and drop it inside the white oval breadbasket.",
+    "Lift the sponge-textured golden bread and transfer to the white oval breadbasket.",
+    "Drop the golden baked bread into the oval-shaped breadbasket",
+    "Grab the sponge-textured golden bread, drop it into the medium plastic breadbasket oval shape.",
+    "Pick the soft square bread and move it to the white oval breadbasket.",
+    "Pick up the rounded square loaf and drop it in the basket for bread beige plastic.",
+    "Put the sponge-textured golden bread into the beige plastic breadbasket after grabbing it.",
+    "Lift the bread with rounded edges and set it in the medium plastic breadbasket oval shape.",
+    "Use the right arm to grab the rounded square loaf for the white oval breadbasket",
+    "Put the fluffy baked bread into the basket for bread beige plastic using an arm.",
+    "Pick up the fluffy baked bread and put it in the basket for carrying bread beige.",
+    "Grab the golden baked bread with an arm and set in the medium plastic breadbasket oval shape.",
+    "Grab the square-shaped bread piece with the right arm and drop it in the basket for bread beige plastic.",
+    "Grab the fluffy baked bread for the white oval breadbasket with the right arm",
+    "Move the rounded square loaf to the smooth textured breadbasket using one arm.",
+    "Grab the soft square bread with one hand and set it in the beige plastic breadbasket.",
+    "Pick the soft square bread and put it into the beige breadbasket.",
+    "Use the right arm to grab the light brown porous bread and drop it inside the beige basket with white grid design.",
+    "Lift the sponge-textured golden bread and transfer to the medium breadbasket with perforated sides.",
+    "Drop the light brown porous bread into the medium oval basket for bread",
+    "Grab the sponge-textured golden bread, drop it into the medium oval basket for bread.",
+    "Pick the sponge-textured golden bread and move it to the oval perforated breadbasket white edges.",
+    "Pick up the golden brown bread and drop it in the medium oval basket for bread.",
+    "Put the bread with soft texture into the beige plastic breadbasket after grabbing it.",
+    "Lift the square-shaped bread piece and set it in the oval perforated breadbasket white edges.",
+    "Use the right arm to grab the golden baked bread for the smooth textured breadbasket",
+    "Put the light brown porous bread into the basket for carrying bread beige using an arm.",
+    "Pick up the golden baked bread and put it in the beige basket with white grid design.",
+    "Grab the bread with soft texture with an arm and set in the beige basket with white grid design.",
+    "Grab the bread with rounded edges with the right arm and drop it in the white oval breadbasket.",
+    "Grab the golden brown bread for the beige basket with white grid design with the right arm",
+    "Move the bread with soft texture to the smooth textured breadbasket using one arm.",
+    "Grab the golden baked bread with one hand and set it in the beige breadbasket.",
+    "Pick the fluffy baked bread and put it into the oval-shaped breadbasket.",
+    "Use the right arm to grab the sponge-textured golden bread and drop it inside the medium oval basket for bread.",
+    "Lift the golden brown bread and transfer to the basket for bread beige plastic.",
+    "Drop the medium-sized bread piece into the basket for bread beige plastic",
+    "Grab the rounded square loaf, drop it into the beige basket with white grid design.",
+    "Pick the sponge-textured golden bread and move it to the beige basket with white grid design.",
+    "Pick up the rounded square loaf and drop it in the basket for bread beige plastic.",
+    "Put the square-shaped bread piece into the beige basket with white grid design after grabbing it.",
+    "Lift the bread with rounded edges and set it in the medium plastic breadbasket oval shape.",
+    "Use the right arm to grab the square-shaped bread piece for the beige plastic breadbasket",
+    "Put the medium bread with rounded sides into the beige plastic breadbasket using an arm.",
+    "Pick up the sponge-textured golden bread and put it in the beige breadbasket.",
+    "Grab the light brown porous bread with an arm and set in the medium oval basket for bread.",
+    "Grab the golden brown bread with the right arm and drop it in the white oval breadbasket.",
+    "Grab the bread with rounded edges for the basket for carrying bread beige with the right arm",
+    "Move the square-shaped bread piece to the beige basket with white grid design using one arm.",
+    "Grab the bread with rounded edges with one hand and set it in the basket for bread beige plastic.",
+    "Pick the sponge-textured golden bread and put it into the oval perforated breadbasket white edges.",
+    "Use the right arm to grab the sponge-textured golden bread and drop it inside the basket for carrying bread beige.",
+    "Lift the rounded square loaf and transfer to the beige plastic breadbasket.",
+    "Drop the golden baked bread into the medium breadbasket with perforated sides",
+    "Grab the light brown porous bread, drop it into the smooth textured breadbasket.",
+    "Pick the rounded square loaf and move it to the white oval breadbasket.",
+    "Pick up the medium-sized bread piece and drop it in the beige basket with white grid design.",
+    "Put the bread with rounded edges into the oval-shaped breadbasket after grabbing it.",
+    "Lift the light brown porous bread and set it in the beige basket with white grid design.",
+    "Use the right arm to grab the bread with rounded edges for the basket for carrying bread beige",
+    "Put the rounded square loaf into the beige basket with white grid design using an arm.",
+    "Pick up the golden baked bread and put it in the medium breadbasket with perforated sides.",
+    "Grab the golden brown bread with an arm and set in the smooth textured breadbasket.",
+    "Grab the bread with rounded edges with the right arm and drop it in the oval-shaped breadbasket.",
+    "Grab the bread with soft texture for the basket for carrying bread beige with the right arm",
+    "Move the soft square bread to the beige plastic breadbasket using one arm.",
+    "Grab the medium-sized bread piece with one hand and set it in the smooth textured breadbasket.",
+    "Pick the bread with soft texture and put it into the smooth textured breadbasket.",
+    "Use the right arm to grab the rounded square loaf and drop it inside the white oval breadbasket.",
+    "Lift the fluffy baked bread and transfer to the oval-shaped breadbasket.",
+    "Drop the bread with rounded edges into the basket for carrying bread beige",
+    "Grab the medium bread with rounded sides, drop it into the oval perforated breadbasket white edges.",
+    "Pick the light brown porous bread and move it to the oval-shaped breadbasket.",
+    "Pick up the light brown porous bread and drop it in the medium breadbasket with perforated sides.",
+    "Put the rounded square loaf into the beige basket with white grid design after grabbing it.",
+    "Lift the soft square bread and set it in the oval perforated breadbasket white edges.",
+    "Use the right arm to grab the rounded square loaf for the basket for carrying bread beige",
+    "Put the bread with soft texture into the beige breadbasket using an arm.",
+    "Pick up the golden brown bread and put it in the medium plastic breadbasket oval shape.",
+    "Grab the square-shaped bread piece with an arm and set in the beige basket with white grid design.",
+    "Grab the bread with rounded edges with the right arm and drop it in the white oval breadbasket.",
+    "Grab the sponge-textured golden bread for the beige breadbasket with the right arm",
+    "Move the sponge-textured golden bread to the beige breadbasket using one arm.",
+    "Grab the golden baked bread with one hand and set it in the basket for carrying bread beige.",
+    "Pick the soft square bread and put it into the basket for bread beige plastic."
+  ],
+  "unseen": [
+    "Grab the square bread with light spots with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with smooth bottom grid sides.",
+    "Place the spongy golden brown bread into the breadbasket with hollowed white walls using the right arm",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and put it in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with smooth bottom grid sides",
+    "Use the right arm to pick the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with hollowed white walls.",
+    "Place the soft bread with golden edges into the white basket with beige bottom using the right arm",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the square bread with light spots and place it in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Pick the square bread with light spots and drop it in the white basket with beige bottom",
+    "Use the right arm to pick the square bread with light spots and place in the white basket with beige bottom.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Place the spongy golden brown bread into the breadbasket with hollowed white walls using the right arm",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and put it in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the square bread with light spots and drop it in the white basket with beige bottom",
+    "Use the right arm to pick the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the white basket with beige bottom.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Place the square bread with light spots into the breadbasket with hollowed white walls using the right arm",
+    "Grab the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with hollowed white walls",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread with one arm, place in the white basket with beige bottom.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Place the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the right arm",
+    "Grab the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Pick the square bread with light spots and place it in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and put it in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Pick the square bread with light spots and drop it in the breadbasket with hollowed white walls",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the white basket with beige bottom.",
+    "Grab the square bread with light spots with one arm, place in the white basket with beige bottom.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Place the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the right arm",
+    "Grab the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Pick the soft bread with golden edges and place it in the white basket with beige bottom.",
+    "Grab the square bread with light spots and put it in the white basket with beige bottom.",
+    "Grab the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Pick the soft bread with golden edges and drop it in the white basket with beige bottom",
+    "Use the right arm to pick the spongy golden brown bread and place in the white basket with beige bottom.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the square bread with light spots, drop in the white basket with beige bottom.",
+    "Place the square bread with light spots into the breadbasket with smooth bottom grid sides using the right arm",
+    "Grab the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and put it in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with hollowed white walls",
+    "Use the right arm to pick the spongy golden brown bread and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Place the spongy golden brown bread into the breadbasket with hollowed white walls using the right arm",
+    "Grab the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Pick the square bread with light spots and drop it in the breadbasket with smooth bottom grid sides",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the white basket with beige bottom.",
+    "Grab the square bread with light spots with one arm, place in the white basket with beige bottom.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Place the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the right arm",
+    "Grab the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and put it in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Pick the square bread with light spots and drop it in the breadbasket with smooth bottom grid sides",
+    "Use the right arm to pick the spongy golden brown bread and place in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread with one arm, place in the white basket with beige bottom.",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Place the square bread with light spots into the breadbasket with smooth bottom grid sides using the right arm",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and put it in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Pick the square bread with light spots and drop it in the breadbasket with smooth bottom grid sides",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the white basket with beige bottom."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode10.json b/place_bread_basket/demo_randomized/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..d10b879d8db0f6478ee4c19a4d7659ce70f7a6f9
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized bread piece and the golden brown bread with two arms, put in the smooth textured breadbasket.",
+    "Take the bread with rounded edges and the medium-sized bread piece together and place them into the medium plastic breadbasket oval shape.",
+    "Put the medium-sized bread piece and the bread with soft texture into the basket for carrying bread beige using two arms.",
+    "Simultaneously grab the sponge-textured golden bread and the golden brown bread, drop in the beige breadbasket.",
+    "Use two arms and set the fluffy baked bread, the bread with rounded edges in the smooth textured breadbasket.",
+    "Shift the golden brown bread and the fluffy baked bread into the white oval breadbasket",
+    "Place the soft square bread and the medium-sized bread piece in the beige basket with white grid design using the dual arm",
+    "Simultaneously grab the fluffy baked bread and the light brown porous bread using the dual arm, then drop them in the oval perforated breadbasket white edges.",
+    "Take the medium bread with rounded sides and the light brown porous bread to the white oval breadbasket",
+    "Grab the golden baked bread and the medium bread with rounded sides quickly and drop them into the medium breadbasket with perforated sides.",
+    "Grab two breads the light brown porous bread and the medium-sized bread piece and place in the beige basket with white grid design.",
+    "Lift the sponge-textured golden bread and the fluffy baked bread at once with the dual arm, then set them in the basket for carrying bread beige.",
+    "Pick up both the soft square bread and the bread with soft texture, then place them in the beige plastic breadbasket.",
+    "Grab both the bread with soft texture and the golden baked bread with the dual arm and place in the white oval breadbasket.",
+    "Simultaneously use the dual arm to drop the soft square bread and the light brown porous bread in the medium breadbasket with perforated sides.",
+    "Use both arms to move the rounded square loaf, the fluffy baked bread to the smooth textured breadbasket.",
+    "Use the dual arm to place the soft square bread and the soft square bread into the beige plastic breadbasket.",
+    "Shift the golden brown bread and the rounded square loaf together to the medium breadbasket with perforated sides.",
+    "Move the bread with rounded edges and the medium-sized bread piece to the medium breadbasket with perforated sides",
+    "Pick the square-shaped bread piece and the light brown porous bread, place them in the basket for bread beige plastic.",
+    "Take the light brown porous bread and the medium-sized bread piece, place them inside the white oval breadbasket.",
+    "Move the light brown porous bread and the sponge-textured golden bread at once into the basket for carrying bread beige.",
+    "Pick the light brown porous bread and the medium bread with rounded sides and set them in the white oval breadbasket.",
+    "Pick the square-shaped bread piece and the bread with rounded edges for the the basket for bread beige plastic",
+    "Grab both the medium bread with rounded sides and the square-shaped bread piece, drop into the medium plastic breadbasket oval shape.",
+    "Take the bread with soft texture and the medium bread with rounded sides then place in the oval-shaped breadbasket.",
+    "Lift the bread with soft texture and the bread with rounded edges with two arms, put in the basket for carrying bread beige.",
+    "Take the golden brown bread and the medium bread with rounded sides together and place them into the beige breadbasket.",
+    "Put the light brown porous bread and the soft square bread into the white oval breadbasket using two arms.",
+    "Simultaneously grab the square-shaped bread piece and the golden baked bread, drop in the beige plastic breadbasket.",
+    "Use two arms and set the sponge-textured golden bread, the golden brown bread in the smooth textured breadbasket.",
+    "Shift the rounded square loaf and the rounded square loaf into the basket for carrying bread beige",
+    "Place the soft square bread and the square-shaped bread piece in the beige breadbasket using the dual arm",
+    "Simultaneously grab the bread with rounded edges and the medium bread with rounded sides using the dual arm, then drop them in the oval-shaped breadbasket.",
+    "Take the square-shaped bread piece and the medium bread with rounded sides to the oval-shaped breadbasket",
+    "Grab the sponge-textured golden bread and the bread with soft texture quickly and drop them into the medium oval basket for bread.",
+    "Grab two breads the bread with rounded edges and the soft square bread and place in the medium oval basket for bread.",
+    "Lift the golden brown bread and the bread with rounded edges at once with the dual arm, then set them in the beige plastic breadbasket.",
+    "Pick up both the square-shaped bread piece and the rounded square loaf, then place them in the basket for carrying bread beige.",
+    "Grab both the rounded square loaf and the square-shaped bread piece with the dual arm and place in the basket for carrying bread beige.",
+    "Simultaneously use the dual arm to drop the square-shaped bread piece and the square-shaped bread piece in the white oval breadbasket.",
+    "Use both arms to move the light brown porous bread, the golden baked bread to the medium breadbasket with perforated sides.",
+    "Use the dual arm to place the medium-sized bread piece and the soft square bread into the basket for bread beige plastic.",
+    "Shift the soft square bread and the bread with soft texture together to the beige plastic breadbasket.",
+    "Move the medium-sized bread piece and the soft square bread to the smooth textured breadbasket",
+    "Pick the soft square bread and the golden brown bread, place them in the white oval breadbasket.",
+    "Take the bread with rounded edges and the medium bread with rounded sides, place them inside the beige breadbasket.",
+    "Move the bread with soft texture and the square-shaped bread piece at once into the medium plastic breadbasket oval shape.",
+    "Pick the soft square bread and the rounded square loaf and set them in the oval-shaped breadbasket.",
+    "Pick the golden baked bread and the bread with soft texture for the the basket for carrying bread beige",
+    "Grab both the bread with rounded edges and the golden brown bread, drop into the oval perforated breadbasket white edges.",
+    "Take the bread with soft texture and the square-shaped bread piece then place in the beige plastic breadbasket.",
+    "Lift the fluffy baked bread and the square-shaped bread piece with two arms, put in the medium oval basket for bread.",
+    "Take the medium bread with rounded sides and the golden baked bread together and place them into the white oval breadbasket.",
+    "Put the golden brown bread and the medium-sized bread piece into the beige basket with white grid design using two arms.",
+    "Simultaneously grab the fluffy baked bread and the sponge-textured golden bread, drop in the oval perforated breadbasket white edges.",
+    "Use two arms and set the square-shaped bread piece, the soft square bread in the medium oval basket for bread.",
+    "Shift the medium-sized bread piece and the bread with soft texture into the beige breadbasket",
+    "Place the medium-sized bread piece and the bread with soft texture in the medium oval basket for bread using the dual arm",
+    "Simultaneously grab the square-shaped bread piece and the light brown porous bread using the dual arm, then drop them in the beige basket with white grid design.",
+    "Take the light brown porous bread and the fluffy baked bread to the smooth textured breadbasket",
+    "Grab the sponge-textured golden bread and the golden baked bread quickly and drop them into the medium breadbasket with perforated sides.",
+    "Grab two breads the fluffy baked bread and the soft square bread and place in the basket for bread beige plastic.",
+    "Lift the soft square bread and the sponge-textured golden bread at once with the dual arm, then set them in the oval perforated breadbasket white edges.",
+    "Pick up both the golden baked bread and the square-shaped bread piece, then place them in the basket for bread beige plastic.",
+    "Grab both the fluffy baked bread and the medium bread with rounded sides with the dual arm and place in the oval-shaped breadbasket.",
+    "Simultaneously use the dual arm to drop the golden baked bread and the golden baked bread in the beige breadbasket.",
+    "Use both arms to move the rounded square loaf, the medium bread with rounded sides to the smooth textured breadbasket.",
+    "Use the dual arm to place the light brown porous bread and the soft square bread into the beige basket with white grid design.",
+    "Shift the medium-sized bread piece and the fluffy baked bread together to the beige plastic breadbasket.",
+    "Move the golden brown bread and the golden brown bread to the basket for bread beige plastic",
+    "Pick the soft square bread and the fluffy baked bread, place them in the medium breadbasket with perforated sides.",
+    "Take the square-shaped bread piece and the medium bread with rounded sides, place them inside the medium plastic breadbasket oval shape.",
+    "Move the bread with soft texture and the sponge-textured golden bread at once into the oval perforated breadbasket white edges.",
+    "Pick the sponge-textured golden bread and the fluffy baked bread and set them in the oval perforated breadbasket white edges.",
+    "Pick the soft square bread and the rounded square loaf for the the medium plastic breadbasket oval shape",
+    "Grab both the rounded square loaf and the rounded square loaf, drop into the smooth textured breadbasket.",
+    "Take the medium bread with rounded sides and the square-shaped bread piece then place in the basket for bread beige plastic.",
+    "Lift the medium bread with rounded sides and the fluffy baked bread with two arms, put in the basket for carrying bread beige.",
+    "Take the golden baked bread and the medium bread with rounded sides together and place them into the oval-shaped breadbasket.",
+    "Put the sponge-textured golden bread and the sponge-textured golden bread into the beige breadbasket using two arms.",
+    "Simultaneously grab the sponge-textured golden bread and the soft square bread, drop in the oval-shaped breadbasket.",
+    "Use two arms and set the golden baked bread, the golden brown bread in the oval perforated breadbasket white edges.",
+    "Shift the square-shaped bread piece and the sponge-textured golden bread into the oval-shaped breadbasket",
+    "Place the medium-sized bread piece and the golden baked bread in the white oval breadbasket using the dual arm",
+    "Simultaneously grab the fluffy baked bread and the rounded square loaf using the dual arm, then drop them in the beige breadbasket.",
+    "Take the bread with rounded edges and the bread with soft texture to the white oval breadbasket",
+    "Grab the golden brown bread and the rounded square loaf quickly and drop them into the white oval breadbasket.",
+    "Grab two breads the medium-sized bread piece and the rounded square loaf and place in the beige plastic breadbasket.",
+    "Lift the bread with rounded edges and the soft square bread at once with the dual arm, then set them in the beige plastic breadbasket.",
+    "Pick up both the sponge-textured golden bread and the golden baked bread, then place them in the beige plastic breadbasket.",
+    "Grab both the medium-sized bread piece and the medium-sized bread piece with the dual arm and place in the basket for bread beige plastic.",
+    "Simultaneously use the dual arm to drop the sponge-textured golden bread and the square-shaped bread piece in the oval-shaped breadbasket.",
+    "Use both arms to move the sponge-textured golden bread, the bread with rounded edges to the medium plastic breadbasket oval shape.",
+    "Use the dual arm to place the rounded square loaf and the bread with rounded edges into the white oval breadbasket.",
+    "Shift the square-shaped bread piece and the medium bread with rounded sides together to the medium breadbasket with perforated sides.",
+    "Move the sponge-textured golden bread and the light brown porous bread to the oval perforated breadbasket white edges",
+    "Pick the bread with soft texture and the sponge-textured golden bread, place them in the oval-shaped breadbasket.",
+    "Take the golden brown bread and the golden brown bread, place them inside the white oval breadbasket.",
+    "Move the fluffy baked bread and the bread with rounded edges at once into the medium oval basket for bread."
+  ],
+  "unseen": [
+    "Use the dual arm to pick the spongy golden brown bread and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the spongy golden brown bread and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the soft bread with golden edges with two arms, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the square bread with light spots and the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the square bread with light spots and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Place the spongy golden brown bread and the square bread with light spots into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the spongy golden brown bread and the spongy golden brown bread and place in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the square bread with light spots and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the soft bread with golden edges and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Place the soft bread with golden edges and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the soft bread with golden edges and the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Pick the square bread with light spots and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the square bread with light spots with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft bread with golden edges and the spongy golden brown bread, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick up the soft bread with golden edges and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and put them in the white basket with beige bottom.",
+    "Place the spongy golden brown bread and the spongy golden brown bread into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the spongy golden brown bread and the spongy golden brown bread and place in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the spongy golden brown bread and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the square bread with light spots with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft bread with golden edges and the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the square bread with light spots and the soft bread with golden edges, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and the square bread with light spots and put them in the breadbasket with smooth bottom grid sides.",
+    "Place the square bread with light spots and the square bread with light spots into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the spongy golden brown bread and the spongy golden brown bread and place in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Use one arm to grab the square bread with light spots and the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the soft bread with golden edges and the square bread with light spots, then place them in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Place the spongy golden brown bread and the square bread with light spots into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the square bread with light spots and the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the spongy golden brown bread and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the spongy golden brown bread and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick up the square bread with light spots and the square bread with light spots, then place them in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the square bread with light spots and put them in the breadbasket with hollowed white walls.",
+    "Place the square bread with light spots and the soft bread with golden edges into the white basket with beige bottom using the dual arm",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the spongy golden brown bread and the spongy golden brown bread and place in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the soft bread with golden edges with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the spongy golden brown bread and the square bread with light spots, drop in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the soft bread with golden edges and the square bread with light spots, then place them in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and put them in the white basket with beige bottom.",
+    "Place the spongy golden brown bread and the square bread with light spots into the white basket with beige bottom using the dual arm",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the spongy golden brown bread and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Pick the square bread with light spots and the square bread with light spots and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges with two arms, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the spongy golden brown bread and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick up the soft bread with golden edges and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Place the soft bread with golden edges and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the soft bread with golden edges and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Pick the spongy golden brown bread and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and the square bread with light spots with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the square bread with light spots and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick up the soft bread with golden edges and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Place the spongy golden brown bread and the spongy golden brown bread into the white basket with beige bottom using the dual arm",
+    "Grab the square bread with light spots and the square bread with light spots and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the spongy golden brown bread and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Pick the spongy golden brown bread and the square bread with light spots and place them in the white basket with beige bottom.",
+    "Grab the square bread with light spots and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the soft bread with golden edges and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick up the soft bread with golden edges and the square bread with light spots, then place them in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and put them in the white basket with beige bottom.",
+    "Place the spongy golden brown bread and the square bread with light spots into the white basket with beige bottom using the dual arm",
+    "Grab the square bread with light spots and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the spongy golden brown bread and the spongy golden brown bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Pick the square bread with light spots and the square bread with light spots and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges and the square bread with light spots with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft bread with golden edges and the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the spongy golden brown bread and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and put them in the breadbasket with hollowed white walls.",
+    "Place the soft bread with golden edges and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the square bread with light spots and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the breadbasket with hollowed white walls."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode11.json b/place_bread_basket/demo_randomized/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fcb862b7a6fd9681cd212ffe70b112e5d4e9dc5
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab both the rounded square loaf and the bread loaf with uneven edges, drop into the breadbasket with rounded edges.",
+    "Take the medium-sized bread piece and the bread with rough texture together and place them into the medium-sized rectangular breadbasket.",
+    "Pick up both the soft square bread and the light golden brown bread, then place them in the brown breadbasket with rounded corners.",
+    "Shift the golden baked bread and the bread loaf with bumpy surface together to the brown breadbasket with rounded corners.",
+    "Grab the golden brown bread and the bread loaf with bumpy surface quickly and drop them into the medium-sized rectangular breadbasket.",
+    "Place the medium bread with rounded sides and the golden bread loaf in the breadbasket with rounded edges using the left arm",
+    "Shift the bread with rounded edges and the bread block with light patches into the breadbasket with smooth woven texture",
+    "Lift the medium bread with rounded sides and the golden bread loaf at once with the left arm, then set them in the smooth textured brown breadbasket.",
+    "Take the light brown porous bread and the cuboid bread to the woven rectangular breadbasket",
+    "Take the bread with rounded edges and the bread loaf with bumpy surface, place them inside the woven rectangular breadbasket.",
+    "Use two arms and set the fluffy baked bread, the golden bread loaf in the smooth textured brown breadbasket.",
+    "Simultaneously grab the light brown porous bread and the doughy and soft bread using the left arm, then drop them in the medium woven breadbasket.",
+    "Pick the sponge-textured golden bread and the golden bread for the the breadbasket with rounded edges",
+    "Pick the fluffy baked bread and the bread loaf with uneven edges, place them in the breadbasket with rounded edges.",
+    "Pick the sponge-textured golden bread and the bread with rough texture and set them in the smooth textured brown breadbasket.",
+    "Simultaneously grab the bread with soft texture and the light golden brown bread, drop in the medium-sized rectangular breadbasket.",
+    "Move the golden baked bread and the light golden brown bread at once into the breadbasket with smooth woven texture.",
+    "Use the left arm to place the rounded square loaf and the bread loaf with uneven edges into the breadbasket with rounded edges.",
+    "Simultaneously use the left arm to drop the bread with soft texture and the golden bread in the light brown wicker breadbasket.",
+    "Take the golden baked bread and the hand-sized bread block then place in the breadbasket with wicker weave pattern.",
+    "Grab both the light brown porous bread and the golden bread with the left arm and place in the breadbasket with rounded edges.",
+    "Lift the golden brown bread and the cuboid bread with two arms, put in the brown breadbasket.",
+    "Use both arms to move the fluffy baked bread, the golden bread loaf to the light brown wicker breadbasket.",
+    "Put the sponge-textured golden bread and the doughy and soft bread into the breadbasket with rounded edges using two arms.",
+    "Move the sponge-textured golden bread and the hand-sized bread block to the breadbasket with wicker weave pattern",
+    "Grab two breads the bread with soft texture and the bread loaf with uneven edges and place in the brown breadbasket.",
+    "Grab both the golden brown bread and the square-shaped bread, drop into the brown breadbasket with rounded corners.",
+    "Take the bread with soft texture and the bread loaf with uneven edges together and place them into the light brown basket for bread.",
+    "Pick up both the medium-sized bread piece and the soft bread, then place them in the breadbasket with wicker weave pattern.",
+    "Shift the light brown porous bread and the soft bread together to the brown breadbasket.",
+    "Grab the sponge-textured golden bread and the square-shaped bread quickly and drop them into the woven rectangular breadbasket.",
+    "Place the soft square bread and the bread block with light patches in the breadbasket with wicker weave pattern using the left arm",
+    "Shift the fluffy baked bread and the square-shaped bread into the brown breadbasket",
+    "Lift the bread with soft texture and the cuboid bread at once with the left arm, then set them in the smooth textured brown breadbasket.",
+    "Take the light brown porous bread and the soft bread to the woven rectangular breadbasket",
+    "Take the medium-sized bread piece and the bread with rough texture, place them inside the breadbasket for holding bread.",
+    "Use two arms and set the golden brown bread, the light golden brown bread in the breadbasket for holding bread.",
+    "Simultaneously grab the medium bread with rounded sides and the light golden brown bread using the left arm, then drop them in the woven rectangular breadbasket.",
+    "Pick the medium-sized bread piece and the bread loaf with bumpy surface for the the brown breadbasket with rounded corners",
+    "Pick the golden brown bread and the golden bread loaf, place them in the breadbasket with rounded edges.",
+    "Pick the medium bread with rounded sides and the hand-sized bread block and set them in the light brown wicker breadbasket.",
+    "Simultaneously grab the medium bread with rounded sides and the bread loaf with bumpy surface, drop in the breadbasket with smooth woven texture.",
+    "Move the medium-sized bread piece and the doughy and soft bread at once into the breadbasket with rounded edges.",
+    "Use the left arm to place the square-shaped bread piece and the hand-sized bread block into the medium woven breadbasket.",
+    "Simultaneously use the left arm to drop the fluffy baked bread and the square-shaped bread in the woven rectangular breadbasket.",
+    "Take the bread with rounded edges and the golden bread then place in the medium-sized rectangular breadbasket.",
+    "Grab both the golden brown bread and the bread loaf with bumpy surface with the left arm and place in the brown breadbasket with rounded corners.",
+    "Lift the rounded square loaf and the square-shaped bread with two arms, put in the breadbasket for holding bread.",
+    "Use both arms to move the rounded square loaf, the hand-sized bread block to the woven rectangular breadbasket.",
+    "Put the bread with rounded edges and the bread block with light patches into the breadbasket with smooth woven texture using two arms.",
+    "Move the fluffy baked bread and the golden bread to the brown breadbasket",
+    "Grab two breads the bread with rounded edges and the soft bread and place in the breadbasket with rounded edges.",
+    "Grab both the bread with rounded edges and the bread block with light patches, drop into the medium-sized rectangular breadbasket.",
+    "Take the square-shaped bread piece and the golden bread loaf together and place them into the brown breadbasket.",
+    "Pick up both the golden baked bread and the doughy and soft bread, then place them in the breadbasket with rounded edges.",
+    "Shift the golden brown bread and the hand-sized bread block together to the medium-sized rectangular breadbasket.",
+    "Grab the golden baked bread and the soft bread quickly and drop them into the breadbasket for holding bread.",
+    "Place the light brown porous bread and the bread loaf with bumpy surface in the brown breadbasket using the left arm",
+    "Shift the rounded square loaf and the bread with rough texture into the smooth textured brown breadbasket",
+    "Lift the square-shaped bread piece and the soft bread at once with the left arm, then set them in the light brown wicker breadbasket.",
+    "Take the fluffy baked bread and the doughy and soft bread to the breadbasket with rounded edges",
+    "Take the golden baked bread and the bread loaf with bumpy surface, place them inside the woven rectangular breadbasket.",
+    "Use two arms and set the fluffy baked bread, the bread loaf with uneven edges in the light brown basket for bread.",
+    "Simultaneously grab the golden baked bread and the light golden brown bread using the left arm, then drop them in the brown breadbasket.",
+    "Pick the fluffy baked bread and the golden bread for the the woven rectangular breadbasket",
+    "Pick the bread with rounded edges and the bread with rough texture, place them in the breadbasket with smooth woven texture.",
+    "Pick the bread with rounded edges and the doughy and soft bread and set them in the breadbasket with rounded edges.",
+    "Simultaneously grab the rounded square loaf and the square-shaped bread, drop in the smooth textured brown breadbasket.",
+    "Move the square-shaped bread piece and the bread block with light patches at once into the light brown wicker breadbasket.",
+    "Use the left arm to place the light brown porous bread and the hand-sized bread block into the breadbasket with wicker weave pattern.",
+    "Simultaneously use the left arm to drop the bread with rounded edges and the square-shaped bread in the breadbasket for holding bread.",
+    "Take the bread with rounded edges and the golden bread then place in the light brown basket for bread.",
+    "Grab both the bread with soft texture and the light golden brown bread with the left arm and place in the woven rectangular breadbasket.",
+    "Lift the sponge-textured golden bread and the bread block with light patches with two arms, put in the breadbasket with wicker weave pattern.",
+    "Use both arms to move the soft square bread, the bread loaf with bumpy surface to the breadbasket with smooth woven texture.",
+    "Put the bread with rounded edges and the bread block with light patches into the brown breadbasket with rounded corners using two arms.",
+    "Move the medium-sized bread piece and the golden bread to the light brown basket for bread",
+    "Grab two breads the medium bread with rounded sides and the bread loaf with bumpy surface and place in the breadbasket with wicker weave pattern.",
+    "Grab both the golden baked bread and the bread block with light patches, drop into the smooth textured brown breadbasket.",
+    "Take the square-shaped bread piece and the soft bread together and place them into the breadbasket for holding bread.",
+    "Pick up both the rounded square loaf and the soft bread, then place them in the smooth textured brown breadbasket.",
+    "Shift the fluffy baked bread and the golden bread together to the medium-sized rectangular breadbasket.",
+    "Grab the bread with rounded edges and the golden bread quickly and drop them into the breadbasket with smooth woven texture.",
+    "Place the soft square bread and the bread block with light patches in the light brown basket for bread using the left arm",
+    "Shift the soft square bread and the bread with rough texture into the light brown basket for bread",
+    "Lift the rounded square loaf and the bread block with light patches at once with the left arm, then set them in the brown breadbasket.",
+    "Take the square-shaped bread piece and the hand-sized bread block to the breadbasket with smooth woven texture",
+    "Take the fluffy baked bread and the square-shaped bread, place them inside the breadbasket with rounded edges.",
+    "Use two arms and set the sponge-textured golden bread, the bread block with light patches in the brown breadbasket.",
+    "Simultaneously grab the bread with soft texture and the bread loaf with bumpy surface using the left arm, then drop them in the brown breadbasket with rounded corners.",
+    "Pick the bread with soft texture and the cuboid bread for the the medium-sized rectangular breadbasket",
+    "Pick the bread with soft texture and the golden bread, place them in the breadbasket with rounded edges.",
+    "Pick the golden baked bread and the golden bread and set them in the breadbasket for holding bread.",
+    "Simultaneously grab the sponge-textured golden bread and the golden bread, drop in the brown breadbasket with rounded corners.",
+    "Move the light brown porous bread and the doughy and soft bread at once into the light brown basket for bread.",
+    "Use the left arm to place the square-shaped bread piece and the square-shaped bread into the medium woven breadbasket.",
+    "Simultaneously use the left arm to drop the light brown porous bread and the cuboid bread in the medium woven breadbasket.",
+    "Take the medium bread with rounded sides and the doughy and soft bread then place in the breadbasket for holding bread.",
+    "Grab both the fluffy baked bread and the bread loaf with uneven edges with the left arm and place in the brown breadbasket.",
+    "Lift the golden brown bread and the bread block with light patches with two arms, put in the smooth textured brown breadbasket."
+  ],
+  "unseen": [
+    "Grab the square bread with light spots and the bread loaf with soft surface with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the soft bread with golden edges and the rectangular bread loaf and drop them into the medium light brown breadbasket.",
+    "Place the soft bread with golden edges and the bread loaf with soft surface into the medium light brown breadbasket using the left arm",
+    "Pick the square bread with light spots and the bread loaf with soft surface and place them in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the spongy golden brown bread and the rectangular bread loaf and place in the rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf with soft surface, drop in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and the bread loaf with soft surface and put them in the rectangular light brown breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread and the bread loaf with soft surface, then place them in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and the bread with golden crust with two arms, place in the medium light brown breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf with soft surface and drop them into the rectangular light brown breadbasket.",
+    "Place the square bread with light spots and the bread loaf with soft surface into the medium light brown breadbasket using the left arm",
+    "Pick the soft bread with golden edges and the rectangular bread loaf and place them in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the spongy golden brown bread and the bread loaf with soft surface and place in the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf with soft surface and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the square bread with light spots and the bread with golden crust, drop in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and the bread loaf with soft surface and put them in the rectangular breadbasket.",
+    "Use the left arm to pick up the square bread with light spots and the bread with golden crust, then place them in the medium light brown breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf with soft surface with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the soft bread with golden edges and the bread with golden crust and drop them into the rectangular breadbasket.",
+    "Place the soft bread with golden edges and the rectangular bread loaf into the rectangular breadbasket using the left arm",
+    "Pick the spongy golden brown bread and the bread with golden crust and place them in the medium light brown breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and the bread loaf with soft surface and place in the rectangular light brown breadbasket.",
+    "Grab the square bread with light spots and the bread with golden crust and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the bread with golden crust, drop in the rectangular breadbasket.",
+    "Grab the square bread with light spots and the bread with golden crust and put them in the medium light brown breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread and the bread with golden crust, then place them in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf with soft surface with two arms, place in the rectangular breadbasket.",
+    "Grab the square bread with light spots and the rectangular bread loaf and drop them into the rectangular light brown breadbasket.",
+    "Place the square bread with light spots and the bread loaf with soft surface into the rectangular breadbasket using the left arm",
+    "Pick the soft bread with golden edges and the bread loaf with soft surface and place them in the rectangular breadbasket.",
+    "Use the left arm to pick the square bread with light spots and the bread with golden crust and place in the rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the bread with golden crust and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf with soft surface, drop in the rectangular light brown breadbasket.",
+    "Grab the square bread with light spots and the bread with golden crust and put them in the rectangular light brown breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread and the rectangular bread loaf, then place them in the medium light brown breadbasket.",
+    "Grab the spongy golden brown bread and the bread with golden crust with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread and the bread with golden crust and drop them into the rectangular light brown breadbasket.",
+    "Place the square bread with light spots and the bread with golden crust into the rectangular light brown breadbasket using the left arm",
+    "Pick the spongy golden brown bread and the rectangular bread loaf and place them in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and the bread loaf with soft surface and place in the rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf with soft surface and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the bread with golden crust, drop in the rectangular breadbasket.",
+    "Grab the square bread with light spots and the bread loaf with soft surface and put them in the rectangular light brown breadbasket.",
+    "Use the left arm to pick up the soft bread with golden edges and the bread with golden crust, then place them in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and the bread loaf with soft surface with two arms, place in the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread and the rectangular bread loaf and drop them into the rectangular breadbasket.",
+    "Place the spongy golden brown bread and the bread loaf with soft surface into the medium light brown breadbasket using the left arm",
+    "Pick the square bread with light spots and the bread loaf with soft surface and place them in the rectangular breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and the bread with golden crust and place in the rectangular light brown breadbasket.",
+    "Grab the soft bread with golden edges and the bread with golden crust and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the rectangular bread loaf, drop in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf with soft surface and put them in the medium light brown breadbasket.",
+    "Use the left arm to pick up the soft bread with golden edges and the bread with golden crust, then place them in the rectangular breadbasket.",
+    "Grab the square bread with light spots and the bread loaf with soft surface with two arms, place in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and the bread with golden crust and drop them into the rectangular light brown breadbasket.",
+    "Place the square bread with light spots and the rectangular bread loaf into the rectangular light brown breadbasket using the left arm",
+    "Pick the square bread with light spots and the bread with golden crust and place them in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the square bread with light spots and the bread with golden crust and place in the rectangular breadbasket.",
+    "Grab the square bread with light spots and the bread with golden crust and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the bread with golden crust, drop in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and the bread with golden crust and put them in the medium light brown breadbasket.",
+    "Use the left arm to pick up the soft bread with golden edges and the bread loaf with soft surface, then place them in the rectangular breadbasket.",
+    "Grab the square bread with light spots and the rectangular bread loaf with two arms, place in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and the bread loaf with soft surface and drop them into the rectangular light brown breadbasket.",
+    "Place the spongy golden brown bread and the bread loaf with soft surface into the rectangular breadbasket using the left arm",
+    "Pick the soft bread with golden edges and the rectangular bread loaf and place them in the medium light brown breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and the bread loaf with soft surface and place in the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf with soft surface and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf with soft surface, drop in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and the bread loaf with soft surface and put them in the medium light brown breadbasket.",
+    "Use the left arm to pick up the soft bread with golden edges and the bread loaf with soft surface, then place them in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and the rectangular bread loaf with two arms, place in the medium light brown breadbasket.",
+    "Grab the spongy golden brown bread and the bread with golden crust and drop them into the medium light brown breadbasket.",
+    "Place the soft bread with golden edges and the bread with golden crust into the rectangular breadbasket using the left arm",
+    "Pick the spongy golden brown bread and the bread loaf with soft surface and place them in the medium light brown breadbasket.",
+    "Use the left arm to pick the spongy golden brown bread and the rectangular bread loaf and place in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and the bread with golden crust and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the square bread with light spots and the bread loaf with soft surface, drop in the rectangular light brown breadbasket.",
+    "Grab the square bread with light spots and the rectangular bread loaf and put them in the rectangular breadbasket.",
+    "Use the left arm to pick up the soft bread with golden edges and the bread with golden crust, then place them in the rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the bread with golden crust with two arms, place in the medium light brown breadbasket.",
+    "Grab the soft bread with golden edges and the bread with golden crust and drop them into the rectangular light brown breadbasket.",
+    "Place the soft bread with golden edges and the rectangular bread loaf into the rectangular breadbasket using the left arm",
+    "Pick the soft bread with golden edges and the bread loaf with soft surface and place them in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and the rectangular bread loaf and place in the rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the rectangular bread loaf and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the bread with golden crust, drop in the rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the bread with golden crust and put them in the rectangular breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread and the bread with golden crust, then place them in the rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf with soft surface with two arms, place in the rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf with soft surface and drop them into the rectangular light brown breadbasket.",
+    "Place the soft bread with golden edges and the rectangular bread loaf into the rectangular breadbasket using the left arm",
+    "Pick the soft bread with golden edges and the rectangular bread loaf and place them in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and the bread with golden crust and place in the rectangular light brown breadbasket.",
+    "Grab the spongy golden brown bread and the rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the bread with golden crust, drop in the medium light brown breadbasket.",
+    "Grab the square bread with light spots and the bread loaf with soft surface and put them in the rectangular light brown breadbasket.",
+    "Use the left arm to pick up the soft bread with golden edges and the bread loaf with soft surface, then place them in the rectangular breadbasket.",
+    "Grab the square bread with light spots and the bread with golden crust with two arms, place in the rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode12.json b/place_bread_basket/demo_randomized/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..a33461beb5f6cb52fc5fcbf938574fc5a554c61c
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab both the soft bread and the golden bread, drop into the beige basket for holding bread.",
+    "Shift the bread block with light patches and the light golden brown bread into the breadbasket with curved base",
+    "Place the bread with rough texture and the bread with rough texture in the synthetic material breadbasket using the dual arm",
+    "Pick the square-shaped bread and the bread block with light patches for the the beige basket for holding bread",
+    "Move the golden bread loaf and the cuboid bread to the synthetic material breadbasket",
+    "Use two arms and set the cuboid bread, the bread loaf with bumpy surface in the oval breadbasket.",
+    "Simultaneously grab the golden bread loaf and the soft bread, drop in the oval breadbasket.",
+    "Grab two breads the light golden brown bread and the bread block with light patches and place in the basket with light brown weaving.",
+    "Simultaneously use the dual arm to drop the bread block with light patches and the bread loaf with bumpy surface in the oval basket for bread.",
+    "Grab both the bread block with light patches and the soft bread with the dual arm and place in the oval breadbasket.",
+    "Pick up both the bread with rough texture and the bread loaf with bumpy surface, then place them in the breadbasket with curved base.",
+    "Grab the square-shaped bread and the golden bread loaf quickly and drop them into the woven plastic breadbasket.",
+    "Pick the hand-sized bread block and the doughy and soft bread, place them in the two-hand-sized breadbasket.",
+    "Use both arms to move the soft bread, the light golden brown bread to the breadbasket for small food items.",
+    "Move the doughy and soft bread and the cuboid bread at once into the breadbasket with curved base.",
+    "Simultaneously grab the bread loaf with bumpy surface and the doughy and soft bread using the dual arm, then drop them in the woven plastic breadbasket.",
+    "Take the soft bread and the hand-sized bread block to the breadbasket with curved base",
+    "Take the bread block with light patches and the light golden brown bread together and place them into the light brown breadbasket.",
+    "Put the cuboid bread and the bread block with light patches into the synthetic material breadbasket using two arms.",
+    "Take the cuboid bread and the soft bread, place them inside the basket with light brown weaving.",
+    "Lift the bread loaf with uneven edges and the square-shaped bread at once with the dual arm, then set them in the oval basket for bread.",
+    "Shift the doughy and soft bread and the golden bread together to the light brown breadbasket.",
+    "Take the bread with rough texture and the golden bread then place in the medium oval breadbasket.",
+    "Pick the light golden brown bread and the cuboid bread and set them in the smooth-textured breadbasket.",
+    "Use the dual arm to place the soft bread and the cuboid bread into the smooth-textured breadbasket.",
+    "Lift the bread loaf with uneven edges and the bread loaf with uneven edges with two arms, put in the woven plastic breadbasket.",
+    "Grab both the soft bread and the bread loaf with uneven edges, drop into the synthetic material breadbasket.",
+    "Shift the light golden brown bread and the bread block with light patches into the medium oval breadbasket",
+    "Place the hand-sized bread block and the cuboid bread in the breadbasket with curved base using the dual arm",
+    "Pick the light golden brown bread and the bread loaf with uneven edges for the the medium oval breadbasket",
+    "Move the golden bread and the golden bread loaf to the breadbasket for small food items",
+    "Use two arms and set the cuboid bread, the hand-sized bread block in the breadbasket for small food items.",
+    "Simultaneously grab the golden bread loaf and the golden bread loaf, drop in the light brown breadbasket.",
+    "Grab two breads the bread with rough texture and the bread loaf with bumpy surface and place in the beige basket for holding bread.",
+    "Simultaneously use the dual arm to drop the bread loaf with bumpy surface and the golden bread in the smooth-textured breadbasket.",
+    "Grab both the bread loaf with uneven edges and the doughy and soft bread with the dual arm and place in the light brown breadbasket.",
+    "Pick up both the golden bread and the cuboid bread, then place them in the woven plastic breadbasket.",
+    "Grab the square-shaped bread and the hand-sized bread block quickly and drop them into the synthetic material breadbasket.",
+    "Pick the golden bread and the golden bread loaf, place them in the breadbasket for small food items.",
+    "Use both arms to move the bread with rough texture, the bread loaf with bumpy surface to the woven plastic breadbasket.",
+    "Move the bread with rough texture and the square-shaped bread at once into the woven plastic breadbasket.",
+    "Simultaneously grab the soft bread and the golden bread using the dual arm, then drop them in the light brown breadbasket.",
+    "Take the bread block with light patches and the hand-sized bread block to the breadbasket for small food items",
+    "Take the golden bread loaf and the golden bread together and place them into the breadbasket for small food items.",
+    "Put the bread with rough texture and the square-shaped bread into the basket with light brown weaving using two arms.",
+    "Take the golden bread and the hand-sized bread block, place them inside the light brown breadbasket.",
+    "Lift the doughy and soft bread and the golden bread loaf at once with the dual arm, then set them in the breadbasket for small food items.",
+    "Shift the cuboid bread and the bread loaf with bumpy surface together to the breadbasket with curved base.",
+    "Take the hand-sized bread block and the light golden brown bread then place in the breadbasket with curved base.",
+    "Pick the bread block with light patches and the bread loaf with bumpy surface and set them in the breadbasket with curved base.",
+    "Use the dual arm to place the golden bread and the bread block with light patches into the two-hand-sized breadbasket.",
+    "Lift the light golden brown bread and the bread loaf with uneven edges with two arms, put in the woven plastic breadbasket.",
+    "Grab both the bread block with light patches and the cuboid bread, drop into the oval basket for bread.",
+    "Shift the doughy and soft bread and the bread with rough texture into the breadbasket for small food items",
+    "Place the golden bread loaf and the cuboid bread in the breadbasket with curved base using the dual arm",
+    "Pick the golden bread and the doughy and soft bread for the the two-hand-sized breadbasket",
+    "Move the golden bread loaf and the square-shaped bread to the basket with light brown weaving",
+    "Use two arms and set the cuboid bread, the bread with rough texture in the smooth-textured breadbasket.",
+    "Simultaneously grab the soft bread and the cuboid bread, drop in the breadbasket for small food items.",
+    "Grab two breads the golden bread loaf and the bread loaf with bumpy surface and place in the oval breadbasket.",
+    "Simultaneously use the dual arm to drop the square-shaped bread and the golden bread loaf in the synthetic material breadbasket.",
+    "Grab both the bread with rough texture and the bread block with light patches with the dual arm and place in the beige basket for holding bread.",
+    "Pick up both the doughy and soft bread and the bread loaf with bumpy surface, then place them in the oval breadbasket.",
+    "Grab the soft bread and the cuboid bread quickly and drop them into the synthetic material breadbasket.",
+    "Pick the bread block with light patches and the cuboid bread, place them in the breadbasket for small food items.",
+    "Use both arms to move the cuboid bread, the hand-sized bread block to the woven plastic breadbasket.",
+    "Move the bread block with light patches and the hand-sized bread block at once into the breadbasket with curved base.",
+    "Simultaneously grab the bread loaf with bumpy surface and the soft bread using the dual arm, then drop them in the smooth-textured breadbasket.",
+    "Take the doughy and soft bread and the soft bread to the beige basket for holding bread",
+    "Take the golden bread and the light golden brown bread together and place them into the oval breadbasket.",
+    "Put the doughy and soft bread and the bread loaf with bumpy surface into the breadbasket with curved base using two arms.",
+    "Take the doughy and soft bread and the bread loaf with uneven edges, place them inside the breadbasket with curved base.",
+    "Lift the golden bread loaf and the square-shaped bread at once with the dual arm, then set them in the light brown breadbasket.",
+    "Shift the bread loaf with uneven edges and the bread loaf with uneven edges together to the medium oval breadbasket.",
+    "Take the bread loaf with uneven edges and the square-shaped bread then place in the woven plastic breadbasket.",
+    "Pick the golden bread loaf and the bread loaf with uneven edges and set them in the oval basket for bread.",
+    "Use the dual arm to place the bread block with light patches and the light golden brown bread into the woven plastic breadbasket.",
+    "Lift the cuboid bread and the bread loaf with bumpy surface with two arms, put in the breadbasket with curved base.",
+    "Grab both the light golden brown bread and the hand-sized bread block, drop into the medium oval breadbasket.",
+    "Shift the square-shaped bread and the light golden brown bread into the smooth-textured breadbasket",
+    "Place the golden bread loaf and the golden bread loaf in the beige basket for holding bread using the dual arm",
+    "Pick the hand-sized bread block and the bread loaf with bumpy surface for the the breadbasket with curved base",
+    "Move the bread with rough texture and the bread loaf with bumpy surface to the woven plastic breadbasket",
+    "Use two arms and set the bread loaf with uneven edges, the bread with rough texture in the breadbasket with curved base.",
+    "Simultaneously grab the cuboid bread and the cuboid bread, drop in the woven plastic breadbasket.",
+    "Grab two breads the golden bread and the golden bread loaf and place in the basket with light brown weaving.",
+    "Simultaneously use the dual arm to drop the bread loaf with bumpy surface and the golden bread loaf in the basket with light brown weaving.",
+    "Grab both the square-shaped bread and the doughy and soft bread with the dual arm and place in the smooth-textured breadbasket.",
+    "Pick up both the square-shaped bread and the doughy and soft bread, then place them in the beige basket for holding bread.",
+    "Grab the square-shaped bread and the bread loaf with bumpy surface quickly and drop them into the synthetic material breadbasket.",
+    "Pick the bread block with light patches and the light golden brown bread, place them in the basket with light brown weaving.",
+    "Use both arms to move the bread loaf with uneven edges, the bread loaf with bumpy surface to the two-hand-sized breadbasket.",
+    "Move the cuboid bread and the light golden brown bread at once into the breadbasket with curved base.",
+    "Simultaneously grab the hand-sized bread block and the soft bread using the dual arm, then drop them in the light brown breadbasket.",
+    "Take the doughy and soft bread and the golden bread to the oval basket for bread",
+    "Take the soft bread and the bread with rough texture together and place them into the woven plastic breadbasket.",
+    "Put the bread loaf with bumpy surface and the cuboid bread into the medium oval breadbasket using two arms.",
+    "Take the hand-sized bread block and the bread block with light patches, place them inside the synthetic material breadbasket.",
+    "Lift the square-shaped bread and the doughy and soft bread at once with the dual arm, then set them in the two-hand-sized breadbasket.",
+    "Shift the golden bread loaf and the bread block with light patches together to the basket with light brown weaving."
+  ],
+  "unseen": [
+    "Grab the rectangular bread loaf and the bread loaf with soft surface with two arms, place in the beige breadbasket.",
+    "Pick the bread loaf with soft surface and the bread loaf with soft surface and place them in the medium-sized breadbasket.",
+    "Place the rectangular bread loaf and the bread with golden crust into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread with golden crust and the rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and drop them into the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread with golden crust, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread loaf with soft surface, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rectangular bread loaf and the bread loaf with soft surface and place in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust with two arms, place in the medium-sized breadbasket.",
+    "Pick the bread with golden crust and the rectangular bread loaf and place them in the beige breadbasket.",
+    "Place the rectangular bread loaf and the rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Use one arm to grab the bread with golden crust and the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread loaf with soft surface, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread loaf with soft surface and the bread with golden crust and place in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface with two arms, place in the breadbasket with ridged texture.",
+    "Pick the bread with golden crust and the rectangular bread loaf and place them in the beige breadbasket.",
+    "Place the bread loaf with soft surface and the rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and put them in the beige breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and drop them into the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rectangular bread loaf and the rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Pick the rectangular bread loaf and the bread with golden crust and place them in the beige breadbasket.",
+    "Place the bread with golden crust and the rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and put them in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and drop it into the breadbasket with ridged texture.",
+    "Use one arm to grab the bread with golden crust and the rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread with golden crust, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf with soft surface and place in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust with two arms, place in the beige breadbasket.",
+    "Pick the bread with golden crust and the bread loaf with soft surface and place them in the beige breadbasket.",
+    "Place the rectangular bread loaf and the bread loaf with soft surface into the breadbasket with ridged texture using the dual arm",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and drop them into the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust and the bread with golden crust, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the bread with golden crust and place in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface with two arms, place in the medium-sized breadbasket.",
+    "Pick the bread with golden crust and the bread loaf with soft surface and place them in the beige breadbasket.",
+    "Place the bread with golden crust and the bread loaf with soft surface into the beige breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the bread with golden crust and put them in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and drop them into the beige breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and drop it into the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread with golden crust, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread with golden crust and place in the beige breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust with two arms, place in the medium-sized breadbasket.",
+    "Pick the bread with golden crust and the bread with golden crust and place them in the breadbasket with ridged texture.",
+    "Place the bread with golden crust and the bread loaf with soft surface into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and put them in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and drop them into the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread with golden crust, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread with golden crust and the bread loaf with soft surface, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface with two arms, place in the medium-sized breadbasket.",
+    "Pick the bread with golden crust and the rectangular bread loaf and place them in the beige breadbasket.",
+    "Place the bread with golden crust and the bread loaf with soft surface into the medium-sized breadbasket using the dual arm",
+    "Grab the bread with golden crust and the bread with golden crust and put them in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and drop them into the beige breadbasket.",
+    "Grab the bread with golden crust and the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf with soft surface and the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread loaf with soft surface, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Pick the bread with golden crust and the bread with golden crust and place them in the beige breadbasket.",
+    "Place the bread with golden crust and the bread with golden crust into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and put them in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop them into the beige breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop it into the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust and the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the bread loaf with soft surface, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust with two arms, place in the breadbasket with ridged texture.",
+    "Pick the bread with golden crust and the bread with golden crust and place them in the beige breadbasket.",
+    "Place the bread with golden crust and the bread loaf with soft surface into the breadbasket with ridged texture using the dual arm",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and put them in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop them into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the bread with golden crust and the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust with two arms, place in the beige breadbasket.",
+    "Pick the bread loaf with soft surface and the bread with golden crust and place them in the beige breadbasket.",
+    "Place the rectangular bread loaf and the bread loaf with soft surface into the beige breadbasket using the dual arm",
+    "Grab the bread with golden crust and the bread with golden crust and put them in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread loaf with soft surface, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread with golden crust, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread loaf with soft surface and the rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf with two arms, place in the breadbasket with ridged texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode13.json b/place_bread_basket/demo_randomized/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..af64e0413a456fa695200da00b4a61bc8168465f
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the brown loaf and set it in the round breadbasket.",
+    "Grab the light brown bread with ridges for the breadbasket with flat base with the right arm",
+    "Pick the small golden brown bread and move it to the breadbasket shaped like a bowl.",
+    "Pick the light brown loaf with smooth sides and put it into the breadbasket for dough.",
+    "Use the right arm to grab the light brown bread with ridges and drop it inside the smooth beige breadbasket.",
+    "Lift the hand-sized oval loaf and transfer to the smooth beige breadbasket.",
+    "Put the smooth loaf with rounded edges into the palm-sized breadbasket after grabbing it.",
+    "Put the bread with warm golden color into the breadbasket for dough using an arm.",
+    "Pick up the light brown loaf with smooth sides and put it in the breadbasket with flat base.",
+    "Grab the bread with warm golden color with an arm and set in the breadbasket for baking.",
+    "Grab the hand-sized oval loaf with one hand and set it in the breadbasket for baking.",
+    "Drop the small loaf with curved top into the spiral ridged breadbasket",
+    "Grab the brown loaf, drop it into the palm-sized breadbasket.",
+    "Move the soft brown bread to the breadbasket for dough using one arm.",
+    "Grab the small golden brown bread with the right arm and drop it in the breadbasket with flat base.",
+    "Pick up the golden bread loaf and drop it in the breadbasket made of woven wood.",
+    "Use the right arm to grab the bread with golden-brown crust for the breadbasket shaped like a bowl",
+    "Lift the soft brown bread and set it in the breadbasket with flat base.",
+    "Grab the light brown loaf with smooth sides for the round breadbasket with the right arm",
+    "Pick the hand-sized oval loaf and move it to the breadbasket with flat base.",
+    "Pick the soft brown bread and put it into the breadbasket shaped like a bowl.",
+    "Use the right arm to grab the smooth loaf with rounded edges and drop it inside the breadbasket shaped like a bowl.",
+    "Lift the golden bread loaf and transfer to the medium breadbasket.",
+    "Put the bread with warm golden color into the breadbasket with spiral lines after grabbing it.",
+    "Put the small loaf with curved top into the breadbasket made of woven wood using an arm.",
+    "Pick up the light brown loaf with smooth sides and put it in the palm-sized breadbasket.",
+    "Grab the light brown loaf with smooth sides with an arm and set in the smooth beige breadbasket.",
+    "Grab the golden bread loaf with one hand and set it in the breadbasket for dough.",
+    "Drop the brown loaf into the spiral ridged breadbasket",
+    "Grab the brown loaf, drop it into the breadbasket shaped like a bowl.",
+    "Move the small golden brown bread to the spiral ridged breadbasket using one arm.",
+    "Grab the smooth loaf with rounded edges with the right arm and drop it in the medium breadbasket.",
+    "Pick up the light brown bread with ridges and drop it in the wooden breadbasket.",
+    "Use the right arm to grab the soft brown bread for the palm-sized breadbasket",
+    "Lift the smooth loaf with rounded edges and set it in the round breadbasket.",
+    "Grab the soft brown bread for the breadbasket with flat base with the right arm",
+    "Pick the small loaf with curved top and move it to the palm-sized breadbasket.",
+    "Pick the bread with golden-brown crust and put it into the breadbasket made of woven wood.",
+    "Use the right arm to grab the light brown bread with ridges and drop it inside the medium breadbasket.",
+    "Lift the small golden brown bread and transfer to the spiral ridged breadbasket.",
+    "Put the brown loaf into the breadbasket with flat base after grabbing it.",
+    "Put the golden bread loaf into the spiral ridged breadbasket using an arm.",
+    "Pick up the light brown loaf with smooth sides and put it in the medium breadbasket.",
+    "Grab the light brown bread with ridges with an arm and set in the breadbasket with spiral lines.",
+    "Grab the bread with golden-brown crust with one hand and set it in the breadbasket made of woven wood.",
+    "Drop the hand-sized oval loaf into the breadbasket with flat base",
+    "Grab the bread with split top, drop it into the breadbasket with spiral lines.",
+    "Move the small golden brown bread to the breadbasket for dough using one arm.",
+    "Grab the bread with warm golden color with the right arm and drop it in the smooth beige breadbasket.",
+    "Pick up the hand-sized oval loaf and drop it in the palm-sized breadbasket.",
+    "Use the right arm to grab the brown loaf for the breadbasket with flat base",
+    "Lift the golden bread loaf and set it in the breadbasket shaped like a bowl.",
+    "Grab the light brown bread with ridges for the breadbasket for baking with the right arm",
+    "Pick the hand-sized oval loaf and move it to the medium breadbasket.",
+    "Pick the light brown bread with ridges and put it into the breadbasket with spiral lines.",
+    "Use the right arm to grab the smooth loaf with rounded edges and drop it inside the breadbasket with spiral lines.",
+    "Lift the smooth loaf with rounded edges and transfer to the palm-sized breadbasket.",
+    "Put the brown loaf into the breadbasket shaped like a bowl after grabbing it.",
+    "Put the smooth loaf with rounded edges into the breadbasket made of woven wood using an arm.",
+    "Pick up the bread with split top and put it in the smooth beige breadbasket.",
+    "Grab the golden bread loaf with an arm and set in the breadbasket made of woven wood.",
+    "Grab the golden bread loaf with one hand and set it in the breadbasket made of woven wood.",
+    "Drop the small loaf with curved top into the wooden breadbasket",
+    "Grab the smooth loaf with rounded edges, drop it into the breadbasket with spiral lines.",
+    "Move the light brown bread with ridges to the wooden breadbasket using one arm.",
+    "Grab the soft brown bread with the right arm and drop it in the medium breadbasket.",
+    "Pick up the small golden brown bread and drop it in the breadbasket with spiral lines.",
+    "Use the right arm to grab the smooth loaf with rounded edges for the breadbasket with flat base",
+    "Lift the bread with warm golden color and set it in the medium breadbasket.",
+    "Grab the smooth loaf with rounded edges for the round breadbasket with the right arm",
+    "Pick the light brown bread with ridges and move it to the medium breadbasket.",
+    "Pick the soft brown bread and put it into the breadbasket for dough.",
+    "Use the right arm to grab the light brown loaf with smooth sides and drop it inside the palm-sized breadbasket.",
+    "Lift the soft brown bread and transfer to the breadbasket for baking.",
+    "Put the smooth loaf with rounded edges into the medium breadbasket after grabbing it.",
+    "Put the hand-sized oval loaf into the breadbasket with flat base using an arm.",
+    "Pick up the soft brown bread and put it in the wooden breadbasket.",
+    "Grab the light brown bread with ridges with an arm and set in the smooth beige breadbasket.",
+    "Grab the hand-sized oval loaf with one hand and set it in the round breadbasket.",
+    "Drop the hand-sized oval loaf into the spiral ridged breadbasket",
+    "Grab the bread with warm golden color, drop it into the breadbasket made of woven wood.",
+    "Move the small golden brown bread to the wooden breadbasket using one arm.",
+    "Grab the hand-sized oval loaf with the right arm and drop it in the breadbasket shaped like a bowl.",
+    "Pick up the golden bread loaf and drop it in the wooden breadbasket.",
+    "Use the right arm to grab the hand-sized oval loaf for the palm-sized breadbasket",
+    "Lift the light brown loaf with smooth sides and set it in the breadbasket for dough.",
+    "Grab the soft brown bread for the spiral ridged breadbasket with the right arm",
+    "Pick the bread with golden-brown crust and move it to the smooth beige breadbasket.",
+    "Pick the smooth loaf with rounded edges and put it into the medium breadbasket.",
+    "Use the right arm to grab the light brown loaf with smooth sides and drop it inside the breadbasket with flat base.",
+    "Lift the soft brown bread and transfer to the breadbasket with flat base.",
+    "Put the light brown bread with ridges into the smooth beige breadbasket after grabbing it.",
+    "Put the small golden brown bread into the breadbasket for dough using an arm.",
+    "Pick up the small golden brown bread and put it in the palm-sized breadbasket.",
+    "Grab the bread with split top with an arm and set in the palm-sized breadbasket.",
+    "Grab the bread with split top with one hand and set it in the breadbasket for baking.",
+    "Drop the smooth loaf with rounded edges into the smooth beige breadbasket",
+    "Grab the light brown loaf with smooth sides, drop it into the breadbasket with spiral lines.",
+    "Move the small golden brown bread to the breadbasket for baking using one arm.",
+    "Grab the smooth loaf with rounded edges with the right arm and drop it in the round breadbasket."
+  ],
+  "unseen": [
+    "Use one arm to grab the oval bread, drop in the light wooden breadbasket.",
+    "Pick the oval bread and drop it in the light wooden breadbasket",
+    "Place the oval bread into the light wooden breadbasket using the right arm",
+    "Grab the oval bread and drop it into the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread with one arm, place in the round beige breadbasket.",
+    "Use the right arm to pick the rounded oval bread and place in the beige breadbasket.",
+    "Grab the rounded oval bread and put it in the round beige breadbasket.",
+    "Use the right arm to pick up the oval bread, then place it in the round beige breadbasket.",
+    "Grab the rounded oval bread and drop it into the beige breadbasket.",
+    "Pick the oval-shaped soft bread and place it in the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread, drop in the round beige breadbasket.",
+    "Pick the rounded oval bread and drop it in the round beige breadbasket",
+    "Place the oval-shaped soft bread into the light wooden breadbasket using the right arm",
+    "Grab the rounded oval bread and drop it into the round beige breadbasket.",
+    "Grab the rounded oval bread with one arm, place in the light wooden breadbasket.",
+    "Use the right arm to pick the oval bread and place in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and put it in the beige breadbasket.",
+    "Use the right arm to pick up the oval bread, then place it in the beige breadbasket.",
+    "Grab the rounded oval bread and drop it into the round beige breadbasket.",
+    "Pick the oval bread and place it in the round beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Pick the oval-shaped soft bread and drop it in the light wooden breadbasket",
+    "Place the oval bread into the beige breadbasket using the right arm",
+    "Grab the oval bread and drop it into the light wooden breadbasket.",
+    "Grab the rounded oval bread with one arm, place in the round beige breadbasket.",
+    "Use the right arm to pick the oval bread and place in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and put it in the light wooden breadbasket.",
+    "Use the right arm to pick up the oval bread, then place it in the round beige breadbasket.",
+    "Grab the oval bread and drop it into the beige breadbasket.",
+    "Pick the rounded oval bread and place it in the round beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Pick the oval-shaped soft bread and drop it in the round beige breadbasket",
+    "Place the oval-shaped soft bread into the round beige breadbasket using the right arm",
+    "Grab the rounded oval bread and drop it into the beige breadbasket.",
+    "Grab the oval bread with one arm, place in the round beige breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the rounded oval bread and put it in the round beige breadbasket.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the light wooden breadbasket.",
+    "Grab the rounded oval bread and drop it into the round beige breadbasket.",
+    "Pick the rounded oval bread and place it in the round beige breadbasket.",
+    "Use one arm to grab the rounded oval bread, drop in the round beige breadbasket.",
+    "Pick the oval-shaped soft bread and drop it in the round beige breadbasket",
+    "Place the oval-shaped soft bread into the round beige breadbasket using the right arm",
+    "Grab the oval-shaped soft bread and drop it into the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread with one arm, place in the light wooden breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and put it in the round beige breadbasket.",
+    "Use the right arm to pick up the oval bread, then place it in the light wooden breadbasket.",
+    "Grab the oval bread and drop it into the light wooden breadbasket.",
+    "Pick the oval-shaped soft bread and place it in the light wooden breadbasket.",
+    "Use one arm to grab the rounded oval bread, drop in the round beige breadbasket.",
+    "Pick the rounded oval bread and drop it in the round beige breadbasket",
+    "Place the rounded oval bread into the light wooden breadbasket using the right arm",
+    "Grab the oval-shaped soft bread and drop it into the round beige breadbasket.",
+    "Grab the rounded oval bread with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick the oval bread and place in the beige breadbasket.",
+    "Grab the oval bread and put it in the light wooden breadbasket.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the beige breadbasket.",
+    "Grab the rounded oval bread and drop it into the light wooden breadbasket.",
+    "Pick the oval bread and place it in the light wooden breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the light wooden breadbasket.",
+    "Pick the rounded oval bread and drop it in the light wooden breadbasket",
+    "Place the oval-shaped soft bread into the round beige breadbasket using the right arm",
+    "Grab the oval-shaped soft bread and drop it into the round beige breadbasket.",
+    "Grab the rounded oval bread with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the rounded oval bread and put it in the round beige breadbasket.",
+    "Use the right arm to pick up the oval bread, then place it in the light wooden breadbasket.",
+    "Grab the rounded oval bread and drop it into the round beige breadbasket.",
+    "Pick the oval-shaped soft bread and place it in the round beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and drop it in the light wooden breadbasket",
+    "Place the oval-shaped soft bread into the beige breadbasket using the right arm",
+    "Grab the oval-shaped soft bread and drop it into the light wooden breadbasket.",
+    "Grab the rounded oval bread with one arm, place in the round beige breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Grab the oval bread and put it in the round beige breadbasket.",
+    "Use the right arm to pick up the oval bread, then place it in the round beige breadbasket.",
+    "Grab the rounded oval bread and drop it into the round beige breadbasket.",
+    "Pick the oval-shaped soft bread and place it in the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread, drop in the round beige breadbasket.",
+    "Pick the oval-shaped soft bread and drop it in the round beige breadbasket",
+    "Place the rounded oval bread into the light wooden breadbasket using the right arm",
+    "Grab the rounded oval bread and drop it into the beige breadbasket.",
+    "Grab the oval-shaped soft bread with one arm, place in the light wooden breadbasket.",
+    "Use the right arm to pick the oval bread and place in the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and put it in the light wooden breadbasket.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the round beige breadbasket.",
+    "Grab the rounded oval bread and drop it into the beige breadbasket.",
+    "Pick the oval-shaped soft bread and place it in the light wooden breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Pick the oval bread and drop it in the round beige breadbasket",
+    "Place the rounded oval bread into the light wooden breadbasket using the right arm",
+    "Grab the oval bread and drop it into the round beige breadbasket.",
+    "Grab the rounded oval bread with one arm, place in the light wooden breadbasket.",
+    "Use the right arm to pick the rounded oval bread and place in the round beige breadbasket.",
+    "Grab the rounded oval bread and put it in the beige breadbasket.",
+    "Use the right arm to pick up the oval bread, then place it in the round beige breadbasket.",
+    "Grab the oval bread and drop it into the beige breadbasket.",
+    "Pick the rounded oval bread and place it in the round beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode14.json b/place_bread_basket/demo_randomized/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..9592e02427d7de9af787fe18a1345996ee7c0e87
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bread with rounded edges and put it in the two-hand-sized breadbasket.",
+    "Grab the soft square bread with an arm and set in the medium oval breadbasket.",
+    "Grab the bread with rounded edges with the right arm and drop it in the breadbasket with curved base.",
+    "Pick up the bread with soft texture and drop it in the synthetic material breadbasket.",
+    "Use the right arm to grab the rounded square loaf and drop it inside the basket with light brown weaving.",
+    "Lift the golden baked bread and set it in the woven plastic breadbasket.",
+    "Lift the soft square bread and transfer to the beige basket for holding bread.",
+    "Pick the medium-sized bread piece and put it into the light brown breadbasket.",
+    "Put the golden brown bread into the oval basket for bread using an arm.",
+    "Drop the medium-sized bread piece into the light brown breadbasket",
+    "Put the light brown porous bread into the synthetic material breadbasket after grabbing it.",
+    "Grab the golden baked bread with one hand and set it in the basket with light brown weaving.",
+    "Grab the light brown porous bread for the light brown breadbasket with the right arm",
+    "Move the sponge-textured golden bread to the synthetic material breadbasket using one arm.",
+    "Grab the medium bread with rounded sides, drop it into the two-hand-sized breadbasket.",
+    "Use the right arm to grab the golden brown bread for the smooth-textured breadbasket",
+    "Pick the bread with soft texture and move it to the medium oval breadbasket.",
+    "Pick up the sponge-textured golden bread and put it in the oval breadbasket.",
+    "Grab the golden brown bread with an arm and set in the synthetic material breadbasket.",
+    "Grab the bread with rounded edges with the right arm and drop it in the synthetic material breadbasket.",
+    "Pick up the medium-sized bread piece and drop it in the beige basket for holding bread.",
+    "Use the right arm to grab the bread with rounded edges and drop it inside the oval basket for bread.",
+    "Lift the sponge-textured golden bread and set it in the oval basket for bread.",
+    "Lift the light brown porous bread and transfer to the two-hand-sized breadbasket.",
+    "Pick the golden brown bread and put it into the beige basket for holding bread.",
+    "Put the sponge-textured golden bread into the oval basket for bread using an arm.",
+    "Drop the golden baked bread into the medium oval breadbasket",
+    "Put the golden baked bread into the breadbasket with curved base after grabbing it.",
+    "Grab the bread with rounded edges with one hand and set it in the breadbasket for small food items.",
+    "Grab the bread with soft texture for the smooth-textured breadbasket with the right arm",
+    "Move the rounded square loaf to the medium oval breadbasket using one arm.",
+    "Grab the fluffy baked bread, drop it into the oval basket for bread.",
+    "Use the right arm to grab the rounded square loaf for the oval basket for bread",
+    "Pick the bread with rounded edges and move it to the basket with light brown weaving.",
+    "Pick up the medium bread with rounded sides and put it in the breadbasket for small food items.",
+    "Grab the bread with rounded edges with an arm and set in the light brown breadbasket.",
+    "Grab the soft square bread with the right arm and drop it in the smooth-textured breadbasket.",
+    "Pick up the square-shaped bread piece and drop it in the two-hand-sized breadbasket.",
+    "Use the right arm to grab the medium bread with rounded sides and drop it inside the medium oval breadbasket.",
+    "Lift the sponge-textured golden bread and set it in the synthetic material breadbasket.",
+    "Lift the square-shaped bread piece and transfer to the oval basket for bread.",
+    "Pick the bread with soft texture and put it into the synthetic material breadbasket.",
+    "Put the medium bread with rounded sides into the breadbasket with curved base using an arm.",
+    "Drop the golden brown bread into the light brown breadbasket",
+    "Put the golden brown bread into the basket with light brown weaving after grabbing it.",
+    "Grab the golden brown bread with one hand and set it in the breadbasket for small food items.",
+    "Grab the medium-sized bread piece for the breadbasket for small food items with the right arm",
+    "Move the golden baked bread to the oval basket for bread using one arm.",
+    "Grab the golden baked bread, drop it into the oval breadbasket.",
+    "Use the right arm to grab the medium-sized bread piece for the breadbasket for small food items",
+    "Pick the golden brown bread and move it to the synthetic material breadbasket.",
+    "Pick up the golden baked bread and put it in the smooth-textured breadbasket.",
+    "Grab the medium-sized bread piece with an arm and set in the two-hand-sized breadbasket.",
+    "Grab the bread with soft texture with the right arm and drop it in the oval breadbasket.",
+    "Pick up the rounded square loaf and drop it in the smooth-textured breadbasket.",
+    "Use the right arm to grab the soft square bread and drop it inside the medium oval breadbasket.",
+    "Lift the medium bread with rounded sides and set it in the beige basket for holding bread.",
+    "Lift the sponge-textured golden bread and transfer to the two-hand-sized breadbasket.",
+    "Pick the bread with rounded edges and put it into the medium oval breadbasket.",
+    "Put the medium bread with rounded sides into the beige basket for holding bread using an arm.",
+    "Drop the bread with soft texture into the smooth-textured breadbasket",
+    "Put the square-shaped bread piece into the medium oval breadbasket after grabbing it.",
+    "Grab the bread with rounded edges with one hand and set it in the basket with light brown weaving.",
+    "Grab the bread with soft texture for the beige basket for holding bread with the right arm",
+    "Move the light brown porous bread to the basket with light brown weaving using one arm.",
+    "Grab the golden baked bread, drop it into the medium oval breadbasket.",
+    "Use the right arm to grab the bread with soft texture for the breadbasket for small food items",
+    "Pick the bread with rounded edges and move it to the beige basket for holding bread.",
+    "Pick up the bread with soft texture and put it in the oval breadbasket.",
+    "Grab the golden baked bread with an arm and set in the two-hand-sized breadbasket.",
+    "Grab the square-shaped bread piece with the right arm and drop it in the basket with light brown weaving.",
+    "Pick up the light brown porous bread and drop it in the light brown breadbasket.",
+    "Use the right arm to grab the bread with soft texture and drop it inside the oval breadbasket.",
+    "Lift the golden baked bread and set it in the breadbasket with curved base.",
+    "Lift the bread with soft texture and transfer to the smooth-textured breadbasket.",
+    "Pick the golden brown bread and put it into the smooth-textured breadbasket.",
+    "Put the soft square bread into the smooth-textured breadbasket using an arm.",
+    "Drop the bread with soft texture into the oval breadbasket",
+    "Put the rounded square loaf into the breadbasket for small food items after grabbing it.",
+    "Grab the rounded square loaf with one hand and set it in the smooth-textured breadbasket.",
+    "Grab the medium bread with rounded sides for the breadbasket for small food items with the right arm",
+    "Move the rounded square loaf to the woven plastic breadbasket using one arm.",
+    "Grab the rounded square loaf, drop it into the oval breadbasket.",
+    "Use the right arm to grab the bread with rounded edges for the two-hand-sized breadbasket",
+    "Pick the golden baked bread and move it to the synthetic material breadbasket.",
+    "Pick up the bread with rounded edges and put it in the breadbasket with curved base.",
+    "Grab the square-shaped bread piece with an arm and set in the breadbasket for small food items.",
+    "Grab the rounded square loaf with the right arm and drop it in the light brown breadbasket.",
+    "Pick up the rounded square loaf and drop it in the oval basket for bread.",
+    "Use the right arm to grab the rounded square loaf and drop it inside the two-hand-sized breadbasket.",
+    "Lift the golden baked bread and set it in the light brown breadbasket.",
+    "Lift the soft square bread and transfer to the medium oval breadbasket.",
+    "Pick the square-shaped bread piece and put it into the synthetic material breadbasket.",
+    "Put the golden brown bread into the breadbasket with curved base using an arm.",
+    "Drop the fluffy baked bread into the oval breadbasket",
+    "Put the golden brown bread into the two-hand-sized breadbasket after grabbing it.",
+    "Grab the bread with rounded edges with one hand and set it in the beige basket for holding bread.",
+    "Grab the fluffy baked bread for the synthetic material breadbasket with the right arm",
+    "Move the rounded square loaf to the oval breadbasket using one arm.",
+    "Grab the light brown porous bread, drop it into the light brown breadbasket."
+  ],
+  "unseen": [
+    "Use the right arm to pick the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the beige breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Place the square bread with light spots into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the medium-sized breadbasket.",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Pick the soft bread with golden edges and place it in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the square bread with light spots with one arm, place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Place the soft bread with golden edges into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the beige breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and drop it in the breadbasket with ridged texture",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Place the spongy golden brown bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the medium-sized breadbasket",
+    "Pick the soft bread with golden edges and place it in the medium-sized breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick the square bread with light spots and place in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and put it in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick up the square bread with light spots, then place it in the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and drop it in the beige breadbasket",
+    "Pick the soft bread with golden edges and place it in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick the spongy golden brown bread and place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and put it in the beige breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Place the square bread with light spots into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the beige breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with ridged texture",
+    "Pick the soft bread with golden edges and place it in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and put it in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the medium-sized breadbasket.",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Pick the soft bread with golden edges and place it in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and put it in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the medium-sized breadbasket.",
+    "Pick the square bread with light spots and drop it in the breadbasket with ridged texture",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and put it in the beige breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges with one arm, place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Place the square bread with light spots into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the beige breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with ridged texture",
+    "Pick the square bread with light spots and place it in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges with one arm, place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Place the square bread with light spots into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and drop it in the medium-sized breadbasket",
+    "Pick the soft bread with golden edges and place it in the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with ridged texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode15.json b/place_bread_basket/demo_randomized/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fabb070775f6b33bcd6e2662cd1faa393fb10fe
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the square-shaped bread and move it to the light brown wicker breadbasket.",
+    "Pick the bread with rough texture and put it into the breadbasket for holding bread.",
+    "Put the golden bread into the light brown basket for bread using an arm.",
+    "Grab the hand-sized bread block with the right arm and drop it in the light brown basket for bread.",
+    "Use the right arm to grab the bread block with light patches and drop it inside the brown breadbasket with rounded corners.",
+    "Drop the golden bread loaf into the light brown basket for bread",
+    "Grab the bread loaf with bumpy surface for the breadbasket with smooth woven texture with the right arm",
+    "Grab the light golden brown bread with an arm and set in the smooth textured brown breadbasket.",
+    "Pick up the bread loaf with uneven edges and drop it in the breadbasket with rounded edges.",
+    "Grab the cuboid bread with one hand and set it in the woven rectangular breadbasket.",
+    "Use the right arm to grab the bread with rough texture for the light brown basket for bread",
+    "Lift the soft bread and set it in the brown breadbasket with rounded corners.",
+    "Pick up the golden bread loaf and put it in the breadbasket with wicker weave pattern.",
+    "Put the soft bread into the brown breadbasket with rounded corners after grabbing it.",
+    "Move the cuboid bread to the medium woven breadbasket using one arm.",
+    "Lift the square-shaped bread and transfer to the smooth textured brown breadbasket.",
+    "Grab the square-shaped bread, drop it into the light brown basket for bread.",
+    "Pick the cuboid bread and move it to the breadbasket with rounded edges.",
+    "Pick the soft bread and put it into the medium woven breadbasket.",
+    "Put the soft bread into the smooth textured brown breadbasket using an arm.",
+    "Grab the golden bread loaf with the right arm and drop it in the light brown basket for bread.",
+    "Use the right arm to grab the cuboid bread and drop it inside the woven rectangular breadbasket.",
+    "Drop the bread with rough texture into the breadbasket with rounded edges",
+    "Grab the cuboid bread for the light brown basket for bread with the right arm",
+    "Grab the golden bread loaf with an arm and set in the breadbasket with wicker weave pattern.",
+    "Pick up the bread loaf with bumpy surface and drop it in the breadbasket with smooth woven texture.",
+    "Grab the golden bread loaf with one hand and set it in the brown breadbasket with rounded corners.",
+    "Use the right arm to grab the bread block with light patches for the brown breadbasket",
+    "Lift the bread loaf with uneven edges and set it in the medium woven breadbasket.",
+    "Pick up the cuboid bread and put it in the medium woven breadbasket.",
+    "Put the golden bread into the light brown basket for bread after grabbing it.",
+    "Move the bread block with light patches to the light brown wicker breadbasket using one arm.",
+    "Lift the doughy and soft bread and transfer to the medium woven breadbasket.",
+    "Grab the soft bread, drop it into the woven rectangular breadbasket.",
+    "Pick the light golden brown bread and move it to the medium woven breadbasket.",
+    "Pick the light golden brown bread and put it into the light brown basket for bread.",
+    "Put the golden bread loaf into the breadbasket with smooth woven texture using an arm.",
+    "Grab the golden bread loaf with the right arm and drop it in the brown breadbasket with rounded corners.",
+    "Use the right arm to grab the bread with rough texture and drop it inside the medium-sized rectangular breadbasket.",
+    "Drop the bread block with light patches into the smooth textured brown breadbasket",
+    "Grab the golden bread for the light brown basket for bread with the right arm",
+    "Grab the light golden brown bread with an arm and set in the medium-sized rectangular breadbasket.",
+    "Pick up the bread loaf with uneven edges and drop it in the brown breadbasket.",
+    "Grab the bread block with light patches with one hand and set it in the light brown basket for bread.",
+    "Use the right arm to grab the cuboid bread for the breadbasket for holding bread",
+    "Lift the bread loaf with bumpy surface and set it in the light brown basket for bread.",
+    "Pick up the light golden brown bread and put it in the medium woven breadbasket.",
+    "Put the golden bread loaf into the medium-sized rectangular breadbasket after grabbing it.",
+    "Move the light golden brown bread to the breadbasket for holding bread using one arm.",
+    "Lift the bread loaf with uneven edges and transfer to the breadbasket with wicker weave pattern.",
+    "Grab the bread block with light patches, drop it into the breadbasket for holding bread.",
+    "Pick the hand-sized bread block and move it to the light brown basket for bread.",
+    "Pick the golden bread and put it into the medium woven breadbasket.",
+    "Put the bread with rough texture into the light brown wicker breadbasket using an arm.",
+    "Grab the cuboid bread with the right arm and drop it in the breadbasket for holding bread.",
+    "Use the right arm to grab the light golden brown bread and drop it inside the light brown wicker breadbasket.",
+    "Drop the bread loaf with uneven edges into the medium-sized rectangular breadbasket",
+    "Grab the bread block with light patches for the brown breadbasket with rounded corners with the right arm",
+    "Grab the hand-sized bread block with an arm and set in the light brown basket for bread.",
+    "Pick up the bread with rough texture and drop it in the breadbasket for holding bread.",
+    "Grab the golden bread with one hand and set it in the medium woven breadbasket.",
+    "Use the right arm to grab the bread loaf with uneven edges for the brown breadbasket",
+    "Lift the hand-sized bread block and set it in the breadbasket with smooth woven texture.",
+    "Pick up the bread block with light patches and put it in the brown breadbasket.",
+    "Put the golden bread into the brown breadbasket with rounded corners after grabbing it.",
+    "Move the square-shaped bread to the breadbasket with smooth woven texture using one arm.",
+    "Lift the golden bread loaf and transfer to the breadbasket with smooth woven texture.",
+    "Grab the light golden brown bread, drop it into the brown breadbasket.",
+    "Pick the golden bread and move it to the breadbasket with rounded edges.",
+    "Pick the hand-sized bread block and put it into the light brown basket for bread.",
+    "Put the bread loaf with uneven edges into the breadbasket with rounded edges using an arm.",
+    "Grab the bread loaf with bumpy surface with the right arm and drop it in the breadbasket for holding bread.",
+    "Use the right arm to grab the bread with rough texture and drop it inside the woven rectangular breadbasket.",
+    "Drop the golden bread into the light brown basket for bread",
+    "Grab the golden bread for the brown breadbasket with rounded corners with the right arm",
+    "Grab the doughy and soft bread with an arm and set in the brown breadbasket with rounded corners.",
+    "Pick up the light golden brown bread and drop it in the light brown wicker breadbasket.",
+    "Grab the hand-sized bread block with one hand and set it in the breadbasket for holding bread.",
+    "Use the right arm to grab the bread block with light patches for the breadbasket for holding bread",
+    "Lift the bread loaf with uneven edges and set it in the woven rectangular breadbasket.",
+    "Pick up the hand-sized bread block and put it in the smooth textured brown breadbasket.",
+    "Put the bread loaf with bumpy surface into the medium-sized rectangular breadbasket after grabbing it.",
+    "Move the golden bread to the breadbasket with smooth woven texture using one arm.",
+    "Lift the doughy and soft bread and transfer to the medium-sized rectangular breadbasket.",
+    "Grab the soft bread, drop it into the light brown wicker breadbasket.",
+    "Pick the bread loaf with uneven edges and move it to the medium-sized rectangular breadbasket.",
+    "Pick the bread with rough texture and put it into the breadbasket with rounded edges.",
+    "Put the light golden brown bread into the breadbasket with rounded edges using an arm.",
+    "Grab the light golden brown bread with the right arm and drop it in the brown breadbasket with rounded corners.",
+    "Use the right arm to grab the light golden brown bread and drop it inside the breadbasket with wicker weave pattern.",
+    "Drop the golden bread into the brown breadbasket",
+    "Grab the bread loaf with bumpy surface for the light brown basket for bread with the right arm",
+    "Grab the cuboid bread with an arm and set in the breadbasket with rounded edges.",
+    "Pick up the bread block with light patches and drop it in the woven rectangular breadbasket.",
+    "Grab the cuboid bread with one hand and set it in the brown breadbasket.",
+    "Use the right arm to grab the hand-sized bread block for the breadbasket with wicker weave pattern",
+    "Lift the hand-sized bread block and set it in the brown breadbasket.",
+    "Pick up the golden bread loaf and put it in the breadbasket with smooth woven texture.",
+    "Put the bread loaf with uneven edges into the medium-sized rectangular breadbasket after grabbing it.",
+    "Move the bread block with light patches to the brown breadbasket with rounded corners using one arm."
+  ],
+  "unseen": [
+    "Place the bread loaf with soft surface into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the bread with golden crust, drop in the rectangular breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the rectangular light brown breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the medium light brown breadbasket",
+    "Grab the bread loaf with soft surface and put it in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and drop it into the rectangular light brown breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and drop it into the medium light brown breadbasket.",
+    "Pick the bread with golden crust and place it in the medium light brown breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the rectangular light brown breadbasket.",
+    "Place the bread loaf with soft surface into the rectangular light brown breadbasket using the right arm",
+    "Use one arm to grab the bread with golden crust, drop in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and drop it in the medium light brown breadbasket",
+    "Grab the bread loaf with soft surface and put it in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the rectangular light brown breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and place it in the medium light brown breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the rectangular light brown breadbasket.",
+    "Place the bread with golden crust into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the rectangular bread loaf, drop in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the rectangular breadbasket.",
+    "Pick the bread with golden crust and drop it in the rectangular light brown breadbasket",
+    "Grab the bread with golden crust and put it in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the medium light brown breadbasket.",
+    "Pick the bread loaf with soft surface and place it in the rectangular breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the rectangular breadbasket.",
+    "Place the bread with golden crust into the rectangular breadbasket using the right arm",
+    "Use one arm to grab the rectangular bread loaf, drop in the medium light brown breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the medium light brown breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the rectangular breadbasket",
+    "Grab the bread with golden crust and put it in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and drop it into the rectangular breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Pick the rectangular bread loaf and place it in the medium light brown breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the rectangular breadbasket.",
+    "Place the rectangular bread loaf into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the bread loaf with soft surface, drop in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the rectangular light brown breadbasket.",
+    "Pick the bread with golden crust and drop it in the medium light brown breadbasket",
+    "Grab the bread loaf with soft surface and put it in the rectangular light brown breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the medium light brown breadbasket.",
+    "Pick the bread loaf with soft surface and place it in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the rectangular breadbasket.",
+    "Place the bread loaf with soft surface into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the rectangular bread loaf, drop in the rectangular breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the rectangular breadbasket",
+    "Grab the bread with golden crust and put it in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and drop it into the medium light brown breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and place it in the rectangular breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the rectangular breadbasket.",
+    "Place the rectangular bread loaf into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the bread with golden crust, drop in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the rectangular light brown breadbasket",
+    "Grab the rectangular bread loaf and put it in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and drop it into the rectangular light brown breadbasket.",
+    "Pick the rectangular bread loaf and place it in the medium light brown breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the rectangular light brown breadbasket.",
+    "Place the bread loaf with soft surface into the rectangular breadbasket using the right arm",
+    "Use one arm to grab the bread with golden crust, drop in the medium light brown breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and drop it in the medium light brown breadbasket",
+    "Grab the bread loaf with soft surface and put it in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and drop it into the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the rectangular breadbasket.",
+    "Grab the bread with golden crust and drop it into the rectangular light brown breadbasket.",
+    "Pick the bread with golden crust and place it in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the rectangular breadbasket.",
+    "Place the bread loaf with soft surface into the rectangular light brown breadbasket using the right arm",
+    "Use one arm to grab the bread loaf with soft surface, drop in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the rectangular light brown breadbasket.",
+    "Pick the rectangular bread loaf and drop it in the rectangular light brown breadbasket",
+    "Grab the bread with golden crust and put it in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Pick the rectangular bread loaf and place it in the medium light brown breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the rectangular breadbasket.",
+    "Place the bread with golden crust into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the rectangular bread loaf, drop in the medium light brown breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the rectangular light brown breadbasket.",
+    "Pick the bread with golden crust and drop it in the rectangular breadbasket",
+    "Grab the bread loaf with soft surface and put it in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Pick the bread with golden crust and place it in the rectangular light brown breadbasket.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode16.json b/place_bread_basket/demo_randomized/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebe06f4e5898463e18fb56e40f4b03c5e7ffe1d6
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the bread with golden-brown crust and the doughy and soft bread at once into the medium breadbasket with perforated sides.",
+    "Grab both the soft brown bread and the cuboid bread, drop into the basket for bread beige plastic.",
+    "Take the brown loaf and the square-shaped bread together and place them into the basket for bread beige plastic.",
+    "Take the hand-sized oval loaf and the soft bread to the smooth textured breadbasket",
+    "Simultaneously grab the small golden brown bread and the soft bread using the dual arm, then drop them in the beige breadbasket.",
+    "Grab the smooth loaf with rounded edges and the doughy and soft bread quickly and drop them into the oval-shaped breadbasket.",
+    "Place the brown loaf and the square-shaped bread in the beige plastic breadbasket using the dual arm",
+    "Shift the golden bread loaf and the cuboid bread together to the medium breadbasket with perforated sides.",
+    "Take the bread with warm golden color and the bread loaf with uneven edges then place in the smooth textured breadbasket.",
+    "Pick the smooth loaf with rounded edges and the light golden brown bread for the the medium oval basket for bread",
+    "Shift the smooth loaf with rounded edges and the bread loaf with uneven edges into the oval-shaped breadbasket",
+    "Grab two breads the light brown bread with ridges and the soft bread and place in the oval-shaped breadbasket.",
+    "Use two arms and set the smooth loaf with rounded edges, the golden bread in the white oval breadbasket.",
+    "Pick the light brown bread with ridges and the bread loaf with uneven edges, place them in the oval perforated breadbasket white edges.",
+    "Simultaneously use the dual arm to drop the bread with golden-brown crust and the bread with rough texture in the beige breadbasket.",
+    "Use both arms to move the light brown loaf with smooth sides, the golden bread to the beige plastic breadbasket.",
+    "Grab both the small golden brown bread and the light golden brown bread with the dual arm and place in the oval perforated breadbasket white edges.",
+    "Take the bread with warm golden color and the light golden brown bread, place them inside the beige plastic breadbasket.",
+    "Simultaneously grab the golden bread loaf and the bread with rough texture, drop in the medium breadbasket with perforated sides.",
+    "Move the small loaf with curved top and the golden bread loaf to the oval-shaped breadbasket",
+    "Lift the brown loaf and the bread loaf with uneven edges at once with the dual arm, then set them in the beige basket with white grid design.",
+    "Put the light brown bread with ridges and the cuboid bread into the medium plastic breadbasket oval shape using two arms.",
+    "Use the dual arm to place the soft brown bread and the hand-sized bread block into the oval perforated breadbasket white edges.",
+    "Pick up both the light brown bread with ridges and the bread with rough texture, then place them in the beige basket with white grid design.",
+    "Lift the brown loaf and the golden bread with two arms, put in the white oval breadbasket.",
+    "Pick the smooth loaf with rounded edges and the square-shaped bread and set them in the beige basket with white grid design.",
+    "Move the light brown bread with ridges and the golden bread loaf at once into the basket for bread beige plastic.",
+    "Grab both the light brown bread with ridges and the golden bread loaf, drop into the basket for carrying bread beige.",
+    "Take the bread with golden-brown crust and the hand-sized bread block together and place them into the white oval breadbasket.",
+    "Take the bread with golden-brown crust and the bread loaf with uneven edges to the oval perforated breadbasket white edges",
+    "Simultaneously grab the small golden brown bread and the cuboid bread using the dual arm, then drop them in the oval perforated breadbasket white edges.",
+    "Grab the golden bread loaf and the bread block with light patches quickly and drop them into the oval-shaped breadbasket.",
+    "Place the soft brown bread and the square-shaped bread in the beige plastic breadbasket using the dual arm",
+    "Shift the bread with warm golden color and the golden bread together to the beige basket with white grid design.",
+    "Take the soft brown bread and the bread block with light patches then place in the medium breadbasket with perforated sides.",
+    "Pick the light brown loaf with smooth sides and the hand-sized bread block for the the beige breadbasket",
+    "Shift the light brown bread with ridges and the doughy and soft bread into the oval-shaped breadbasket",
+    "Grab two breads the smooth loaf with rounded edges and the golden bread loaf and place in the medium oval basket for bread.",
+    "Use two arms and set the soft brown bread, the doughy and soft bread in the beige breadbasket.",
+    "Pick the bread with warm golden color and the bread loaf with bumpy surface, place them in the beige basket with white grid design.",
+    "Simultaneously use the dual arm to drop the soft brown bread and the bread loaf with uneven edges in the medium breadbasket with perforated sides.",
+    "Use both arms to move the bread with golden-brown crust, the square-shaped bread to the oval perforated breadbasket white edges.",
+    "Grab both the golden bread loaf and the bread with rough texture with the dual arm and place in the oval perforated breadbasket white edges.",
+    "Take the bread with warm golden color and the bread loaf with bumpy surface, place them inside the oval-shaped breadbasket.",
+    "Simultaneously grab the brown loaf and the square-shaped bread, drop in the beige basket with white grid design.",
+    "Move the bread with warm golden color and the bread block with light patches to the medium breadbasket with perforated sides",
+    "Lift the bread with split top and the bread loaf with uneven edges at once with the dual arm, then set them in the beige plastic breadbasket.",
+    "Put the smooth loaf with rounded edges and the light golden brown bread into the basket for carrying bread beige using two arms.",
+    "Use the dual arm to place the bread with golden-brown crust and the golden bread loaf into the medium breadbasket with perforated sides.",
+    "Pick up both the hand-sized oval loaf and the cuboid bread, then place them in the white oval breadbasket.",
+    "Lift the small loaf with curved top and the bread block with light patches with two arms, put in the oval-shaped breadbasket.",
+    "Pick the bread with golden-brown crust and the square-shaped bread and set them in the smooth textured breadbasket.",
+    "Move the soft brown bread and the doughy and soft bread at once into the beige plastic breadbasket.",
+    "Grab both the hand-sized oval loaf and the hand-sized bread block, drop into the medium plastic breadbasket oval shape.",
+    "Take the small loaf with curved top and the golden bread together and place them into the oval-shaped breadbasket.",
+    "Take the light brown bread with ridges and the bread with rough texture to the oval perforated breadbasket white edges",
+    "Simultaneously grab the light brown loaf with smooth sides and the soft bread using the dual arm, then drop them in the beige plastic breadbasket.",
+    "Grab the soft brown bread and the bread loaf with uneven edges quickly and drop them into the medium breadbasket with perforated sides.",
+    "Place the light brown loaf with smooth sides and the bread loaf with uneven edges in the beige plastic breadbasket using the dual arm",
+    "Shift the bread with golden-brown crust and the golden bread loaf together to the medium breadbasket with perforated sides.",
+    "Take the bread with golden-brown crust and the cuboid bread then place in the oval-shaped breadbasket.",
+    "Pick the golden bread loaf and the doughy and soft bread for the the oval perforated breadbasket white edges",
+    "Shift the bread with split top and the square-shaped bread into the medium plastic breadbasket oval shape",
+    "Grab two breads the hand-sized oval loaf and the hand-sized bread block and place in the smooth textured breadbasket.",
+    "Use two arms and set the small golden brown bread, the golden bread in the white oval breadbasket.",
+    "Pick the smooth loaf with rounded edges and the bread loaf with uneven edges, place them in the smooth textured breadbasket.",
+    "Simultaneously use the dual arm to drop the brown loaf and the golden bread loaf in the smooth textured breadbasket.",
+    "Use both arms to move the small golden brown bread, the golden bread to the medium oval basket for bread.",
+    "Grab both the bread with split top and the cuboid bread with the dual arm and place in the medium oval basket for bread.",
+    "Take the hand-sized oval loaf and the doughy and soft bread, place them inside the medium oval basket for bread.",
+    "Simultaneously grab the bread with split top and the hand-sized bread block, drop in the oval perforated breadbasket white edges.",
+    "Move the brown loaf and the golden bread to the beige plastic breadbasket",
+    "Lift the bread with split top and the cuboid bread at once with the dual arm, then set them in the medium oval basket for bread.",
+    "Put the light brown bread with ridges and the square-shaped bread into the white oval breadbasket using two arms.",
+    "Use the dual arm to place the bread with split top and the bread loaf with uneven edges into the beige plastic breadbasket.",
+    "Pick up both the light brown loaf with smooth sides and the bread loaf with uneven edges, then place them in the smooth textured breadbasket.",
+    "Lift the soft brown bread and the bread block with light patches with two arms, put in the beige breadbasket.",
+    "Pick the small loaf with curved top and the bread loaf with bumpy surface and set them in the smooth textured breadbasket.",
+    "Move the light brown loaf with smooth sides and the square-shaped bread at once into the medium breadbasket with perforated sides.",
+    "Grab both the light brown loaf with smooth sides and the bread loaf with bumpy surface, drop into the smooth textured breadbasket.",
+    "Take the small golden brown bread and the soft bread together and place them into the oval-shaped breadbasket.",
+    "Take the smooth loaf with rounded edges and the cuboid bread to the medium oval basket for bread",
+    "Simultaneously grab the light brown bread with ridges and the cuboid bread using the dual arm, then drop them in the basket for carrying bread beige.",
+    "Grab the soft brown bread and the bread loaf with uneven edges quickly and drop them into the basket for carrying bread beige.",
+    "Place the bread with warm golden color and the golden bread loaf in the basket for carrying bread beige using the dual arm",
+    "Shift the smooth loaf with rounded edges and the light golden brown bread together to the beige plastic breadbasket.",
+    "Take the smooth loaf with rounded edges and the golden bread loaf then place in the oval perforated breadbasket white edges.",
+    "Pick the bread with warm golden color and the soft bread for the the white oval breadbasket",
+    "Shift the bread with warm golden color and the light golden brown bread into the beige basket with white grid design",
+    "Grab two breads the light brown bread with ridges and the light golden brown bread and place in the medium oval basket for bread.",
+    "Use two arms and set the bread with split top, the bread loaf with uneven edges in the medium breadbasket with perforated sides.",
+    "Pick the golden bread loaf and the cuboid bread, place them in the medium plastic breadbasket oval shape.",
+    "Simultaneously use the dual arm to drop the hand-sized oval loaf and the golden bread in the beige plastic breadbasket.",
+    "Use both arms to move the light brown loaf with smooth sides, the golden bread loaf to the medium plastic breadbasket oval shape.",
+    "Grab both the light brown bread with ridges and the hand-sized bread block with the dual arm and place in the oval perforated breadbasket white edges.",
+    "Take the bread with golden-brown crust and the golden bread loaf, place them inside the oval perforated breadbasket white edges.",
+    "Simultaneously grab the smooth loaf with rounded edges and the hand-sized bread block, drop in the beige breadbasket.",
+    "Move the smooth loaf with rounded edges and the bread block with light patches to the oval-shaped breadbasket",
+    "Lift the light brown bread with ridges and the square-shaped bread at once with the dual arm, then set them in the oval perforated breadbasket white edges.",
+    "Put the light brown bread with ridges and the cuboid bread into the basket for carrying bread beige using two arms."
+  ],
+  "unseen": [
+    "Grab the rounded oval bread and the bread loaf with soft surface and put them in the white basket with beige bottom.",
+    "Grab the oval bread and the bread with golden crust and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the rounded oval bread and the bread with golden crust, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the bread loaf with soft surface and drop them into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the rounded oval bread and the bread loaf with soft surface, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf with soft surface and place in the breadbasket with smooth bottom grid sides.",
+    "Place the oval bread and the rectangular bread loaf into the white basket with beige bottom using the dual arm",
+    "Pick the rounded oval bread and the bread with golden crust and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the rectangular bread loaf with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the bread loaf with soft surface and put them in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the bread loaf with soft surface, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the bread with golden crust and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rounded oval bread and the bread with golden crust, drop in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf with soft surface and place in the breadbasket with hollowed white walls.",
+    "Place the oval bread and the bread with golden crust into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the oval-shaped soft bread and the rectangular bread loaf and place them in the white basket with beige bottom.",
+    "Grab the rounded oval bread and the rectangular bread loaf with two arms, place in the white basket with beige bottom.",
+    "Grab the oval bread and the bread loaf with soft surface and put them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the bread loaf with soft surface and drop it into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the oval bread and the bread with golden crust, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the bread with golden crust and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rounded oval bread and the rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the rounded oval bread and the rectangular bread loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Place the rounded oval bread and the bread loaf with soft surface into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the oval bread and the rectangular bread loaf and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the bread with golden crust with two arms, place in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the bread with golden crust and put them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the bread loaf with soft surface and drop it into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the oval bread and the bread with golden crust, then place them in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the bread with golden crust and drop them into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval bread and the bread loaf with soft surface, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread with golden crust and place in the breadbasket with smooth bottom grid sides.",
+    "Place the oval-shaped soft bread and the bread with golden crust into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the oval-shaped soft bread and the bread loaf with soft surface and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the rectangular bread loaf with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the rectangular bread loaf and put them in the white basket with beige bottom.",
+    "Grab the oval bread and the bread with golden crust and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the rounded oval bread and the bread with golden crust, then place them in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the bread with golden crust and drop them into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval bread and the bread loaf with soft surface, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the rounded oval bread and the bread with golden crust and place in the breadbasket with hollowed white walls.",
+    "Place the oval bread and the bread loaf with soft surface into the white basket with beige bottom using the dual arm",
+    "Pick the oval bread and the rectangular bread loaf and place them in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the bread with golden crust with two arms, place in the white basket with beige bottom.",
+    "Grab the oval bread and the bread loaf with soft surface and put them in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the bread loaf with soft surface and drop it into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the oval bread and the rectangular bread loaf, then place them in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the bread with golden crust and drop them into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the rounded oval bread and the bread loaf with soft surface, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the rounded oval bread and the bread with golden crust and place in the breadbasket with hollowed white walls.",
+    "Place the oval-shaped soft bread and the bread with golden crust into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the oval-shaped soft bread and the bread with golden crust and place them in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the bread with golden crust with two arms, place in the white basket with beige bottom.",
+    "Grab the rounded oval bread and the rectangular bread loaf and put them in the white basket with beige bottom.",
+    "Grab the oval bread and the bread loaf with soft surface and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the oval bread and the bread with golden crust, then place them in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the bread loaf with soft surface and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the oval bread and the bread with golden crust, drop in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf with soft surface and place in the breadbasket with smooth bottom grid sides.",
+    "Place the oval bread and the bread loaf with soft surface into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the rounded oval bread and the bread with golden crust and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the bread with golden crust with two arms, place in the white basket with beige bottom.",
+    "Grab the oval bread and the bread with golden crust and put them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Use the dual arm to pick up the oval bread and the rectangular bread loaf, then place them in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the rectangular bread loaf and drop them into the white basket with beige bottom.",
+    "Use one arm to grab the rounded oval bread and the bread with golden crust, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the rounded oval bread and the bread with golden crust and place in the white basket with beige bottom.",
+    "Place the oval bread and the rectangular bread loaf into the white basket with beige bottom using the dual arm",
+    "Pick the oval bread and the bread loaf with soft surface and place them in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the bread with golden crust with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the bread with golden crust and put them in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the oval bread and the bread loaf with soft surface, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the rectangular bread loaf and drop them into the white basket with beige bottom.",
+    "Use one arm to grab the rounded oval bread and the rectangular bread loaf, drop in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the oval bread and the bread with golden crust and place in the breadbasket with smooth bottom grid sides.",
+    "Place the oval-shaped soft bread and the bread with golden crust into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the oval bread and the bread with golden crust and place them in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the bread with golden crust with two arms, place in the white basket with beige bottom.",
+    "Grab the oval bread and the bread loaf with soft surface and put them in the white basket with beige bottom.",
+    "Grab the oval bread and the bread with golden crust and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the rounded oval bread and the bread with golden crust, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the bread loaf with soft surface and drop them into the white basket with beige bottom.",
+    "Use one arm to grab the rounded oval bread and the rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf with soft surface and place in the breadbasket with hollowed white walls.",
+    "Place the oval bread and the bread with golden crust into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the oval bread and the rectangular bread loaf and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the rectangular bread loaf with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the bread loaf with soft surface and put them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the rounded oval bread and the bread with golden crust, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the rectangular bread loaf and drop them into the white basket with beige bottom.",
+    "Use one arm to grab the rounded oval bread and the bread loaf with soft surface, drop in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the oval-shaped soft bread and the rectangular bread loaf and place in the breadbasket with hollowed white walls.",
+    "Place the rounded oval bread and the bread with golden crust into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the oval-shaped soft bread and the rectangular bread loaf and place them in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the bread loaf with soft surface with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the bread loaf with soft surface and put them in the breadbasket with hollowed white walls."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode17.json b/place_bread_basket/demo_randomized/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcaa6757ae468483af950b88cd2079685c3c7633
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the bread with rough texture and the bread loaf with bumpy surface together to the two-hand-sized breadbasket.",
+    "Put the golden bread loaf and the light golden brown bread into the oval breadbasket using two arms.",
+    "Pick up both the golden bread loaf and the soft bread, then place them in the two-hand-sized breadbasket.",
+    "Simultaneously grab the doughy and soft bread and the bread loaf with uneven edges using the dual arm, then drop them in the woven plastic breadbasket.",
+    "Place the doughy and soft bread and the light golden brown bread in the two-hand-sized breadbasket using the dual arm",
+    "Take the light golden brown bread and the bread block with light patches together and place them into the breadbasket with curved base.",
+    "Grab the soft bread and the doughy and soft bread quickly and drop them into the light brown breadbasket.",
+    "Pick the bread loaf with uneven edges and the bread loaf with uneven edges, place them in the oval basket for bread.",
+    "Move the doughy and soft bread and the soft bread to the basket with light brown weaving",
+    "Use the dual arm to place the golden bread loaf and the bread loaf with uneven edges into the smooth-textured breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with rough texture and the soft bread in the smooth-textured breadbasket.",
+    "Grab both the hand-sized bread block and the light golden brown bread, drop into the oval basket for bread.",
+    "Pick the bread loaf with uneven edges and the square-shaped bread for the the oval breadbasket",
+    "Take the doughy and soft bread and the bread loaf with uneven edges to the breadbasket with curved base",
+    "Lift the light golden brown bread and the cuboid bread at once with the dual arm, then set them in the oval breadbasket.",
+    "Take the bread block with light patches and the square-shaped bread, place them inside the smooth-textured breadbasket.",
+    "Take the light golden brown bread and the bread loaf with bumpy surface then place in the synthetic material breadbasket.",
+    "Grab two breads the doughy and soft bread and the golden bread and place in the oval basket for bread.",
+    "Simultaneously grab the bread loaf with uneven edges and the doughy and soft bread, drop in the synthetic material breadbasket.",
+    "Use two arms and set the light golden brown bread, the golden bread loaf in the medium oval breadbasket.",
+    "Lift the golden bread loaf and the golden bread with two arms, put in the beige basket for holding bread.",
+    "Shift the golden bread loaf and the bread block with light patches into the beige basket for holding bread",
+    "Use both arms to move the light golden brown bread, the golden bread loaf to the breadbasket for small food items.",
+    "Move the cuboid bread and the light golden brown bread at once into the beige basket for holding bread.",
+    "Pick the square-shaped bread and the light golden brown bread and set them in the oval basket for bread.",
+    "Grab both the doughy and soft bread and the bread loaf with uneven edges with the dual arm and place in the light brown breadbasket.",
+    "Shift the golden bread and the bread with rough texture together to the woven plastic breadbasket.",
+    "Put the bread loaf with bumpy surface and the golden bread loaf into the light brown breadbasket using two arms.",
+    "Pick up both the bread loaf with bumpy surface and the bread loaf with uneven edges, then place them in the oval breadbasket.",
+    "Simultaneously grab the golden bread loaf and the soft bread using the dual arm, then drop them in the oval basket for bread.",
+    "Place the bread loaf with uneven edges and the bread loaf with uneven edges in the two-hand-sized breadbasket using the dual arm",
+    "Take the bread with rough texture and the square-shaped bread together and place them into the medium oval breadbasket.",
+    "Grab the bread with rough texture and the doughy and soft bread quickly and drop them into the beige basket for holding bread.",
+    "Pick the light golden brown bread and the doughy and soft bread, place them in the woven plastic breadbasket.",
+    "Move the soft bread and the cuboid bread to the smooth-textured breadbasket",
+    "Use the dual arm to place the golden bread loaf and the square-shaped bread into the breadbasket with curved base.",
+    "Simultaneously use the dual arm to drop the hand-sized bread block and the cuboid bread in the two-hand-sized breadbasket.",
+    "Grab both the light golden brown bread and the cuboid bread, drop into the breadbasket with curved base.",
+    "Pick the hand-sized bread block and the light golden brown bread for the the woven plastic breadbasket",
+    "Take the bread block with light patches and the light golden brown bread to the smooth-textured breadbasket",
+    "Lift the doughy and soft bread and the golden bread at once with the dual arm, then set them in the beige basket for holding bread.",
+    "Take the doughy and soft bread and the square-shaped bread, place them inside the woven plastic breadbasket.",
+    "Take the golden bread and the cuboid bread then place in the beige basket for holding bread.",
+    "Grab two breads the hand-sized bread block and the hand-sized bread block and place in the oval basket for bread.",
+    "Simultaneously grab the square-shaped bread and the light golden brown bread, drop in the medium oval breadbasket.",
+    "Use two arms and set the hand-sized bread block, the light golden brown bread in the beige basket for holding bread.",
+    "Lift the hand-sized bread block and the golden bread loaf with two arms, put in the basket with light brown weaving.",
+    "Shift the light golden brown bread and the light golden brown bread into the medium oval breadbasket",
+    "Use both arms to move the bread with rough texture, the bread block with light patches to the beige basket for holding bread.",
+    "Move the golden bread loaf and the bread block with light patches at once into the light brown breadbasket.",
+    "Pick the light golden brown bread and the light golden brown bread and set them in the breadbasket with curved base.",
+    "Grab both the bread loaf with uneven edges and the soft bread with the dual arm and place in the smooth-textured breadbasket.",
+    "Shift the bread block with light patches and the soft bread together to the light brown breadbasket.",
+    "Put the doughy and soft bread and the bread with rough texture into the basket with light brown weaving using two arms.",
+    "Pick up both the square-shaped bread and the light golden brown bread, then place them in the breadbasket with curved base.",
+    "Simultaneously grab the bread with rough texture and the cuboid bread using the dual arm, then drop them in the medium oval breadbasket.",
+    "Place the square-shaped bread and the golden bread loaf in the basket with light brown weaving using the dual arm",
+    "Take the bread block with light patches and the bread loaf with bumpy surface together and place them into the oval basket for bread.",
+    "Grab the light golden brown bread and the bread block with light patches quickly and drop them into the oval breadbasket.",
+    "Pick the light golden brown bread and the bread loaf with bumpy surface, place them in the light brown breadbasket.",
+    "Move the soft bread and the hand-sized bread block to the oval basket for bread",
+    "Use the dual arm to place the bread block with light patches and the cuboid bread into the beige basket for holding bread.",
+    "Simultaneously use the dual arm to drop the cuboid bread and the golden bread in the breadbasket for small food items.",
+    "Grab both the bread loaf with uneven edges and the golden bread loaf, drop into the light brown breadbasket.",
+    "Pick the soft bread and the bread block with light patches for the the beige basket for holding bread",
+    "Take the bread loaf with bumpy surface and the light golden brown bread to the light brown breadbasket",
+    "Lift the soft bread and the doughy and soft bread at once with the dual arm, then set them in the synthetic material breadbasket.",
+    "Take the bread with rough texture and the bread loaf with uneven edges, place them inside the breadbasket for small food items.",
+    "Take the cuboid bread and the light golden brown bread then place in the smooth-textured breadbasket.",
+    "Grab two breads the light golden brown bread and the square-shaped bread and place in the light brown breadbasket.",
+    "Simultaneously grab the bread loaf with uneven edges and the golden bread, drop in the smooth-textured breadbasket.",
+    "Use two arms and set the doughy and soft bread, the golden bread loaf in the oval basket for bread.",
+    "Lift the golden bread loaf and the soft bread with two arms, put in the basket with light brown weaving.",
+    "Shift the cuboid bread and the golden bread into the medium oval breadbasket",
+    "Use both arms to move the bread loaf with uneven edges, the light golden brown bread to the beige basket for holding bread.",
+    "Move the doughy and soft bread and the bread with rough texture at once into the smooth-textured breadbasket.",
+    "Pick the light golden brown bread and the soft bread and set them in the breadbasket with curved base.",
+    "Grab both the light golden brown bread and the cuboid bread with the dual arm and place in the medium oval breadbasket.",
+    "Shift the square-shaped bread and the bread loaf with bumpy surface together to the woven plastic breadbasket.",
+    "Put the golden bread loaf and the square-shaped bread into the smooth-textured breadbasket using two arms.",
+    "Pick up both the golden bread loaf and the light golden brown bread, then place them in the basket with light brown weaving.",
+    "Simultaneously grab the bread loaf with bumpy surface and the bread loaf with bumpy surface using the dual arm, then drop them in the breadbasket for small food items.",
+    "Place the bread block with light patches and the golden bread loaf in the oval basket for bread using the dual arm",
+    "Take the doughy and soft bread and the bread loaf with uneven edges together and place them into the synthetic material breadbasket.",
+    "Grab the cuboid bread and the golden bread quickly and drop them into the light brown breadbasket.",
+    "Pick the square-shaped bread and the hand-sized bread block, place them in the synthetic material breadbasket.",
+    "Move the bread with rough texture and the bread with rough texture to the smooth-textured breadbasket",
+    "Use the dual arm to place the doughy and soft bread and the hand-sized bread block into the synthetic material breadbasket.",
+    "Simultaneously use the dual arm to drop the golden bread and the bread block with light patches in the breadbasket with curved base.",
+    "Grab both the golden bread loaf and the bread with rough texture, drop into the basket with light brown weaving.",
+    "Pick the hand-sized bread block and the golden bread for the the oval basket for bread",
+    "Take the bread with rough texture and the light golden brown bread to the oval breadbasket",
+    "Lift the bread with rough texture and the bread block with light patches at once with the dual arm, then set them in the light brown breadbasket.",
+    "Take the cuboid bread and the soft bread, place them inside the breadbasket with curved base.",
+    "Take the square-shaped bread and the bread loaf with bumpy surface then place in the breadbasket for small food items.",
+    "Grab two breads the light golden brown bread and the bread loaf with bumpy surface and place in the synthetic material breadbasket.",
+    "Simultaneously grab the soft bread and the square-shaped bread, drop in the woven plastic breadbasket.",
+    "Use two arms and set the bread block with light patches, the light golden brown bread in the synthetic material breadbasket.",
+    "Lift the hand-sized bread block and the bread loaf with uneven edges with two arms, put in the oval breadbasket.",
+    "Shift the bread with rough texture and the doughy and soft bread into the basket with light brown weaving"
+  ],
+  "unseen": [
+    "Use the dual arm to pick the rectangular bread loaf and the rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Pick the bread with golden crust and the bread with golden crust and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread loaf with soft surface, then place them in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Place the rectangular bread loaf and the bread with golden crust into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the bread with golden crust and drop them into the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and put them in the medium-sized breadbasket.",
+    "Use one arm to grab the bread with golden crust and the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface and drop it into the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the rectangular bread loaf and place in the beige breadbasket.",
+    "Pick the bread with golden crust and the bread with golden crust and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread with golden crust and the rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the bread with golden crust and the rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Place the rectangular bread loaf and the rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Grab the bread with golden crust and the rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf with soft surface and the rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the bread with golden crust and place in the breadbasket with ridged texture.",
+    "Pick the rectangular bread loaf and the bread with golden crust and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Place the rectangular bread loaf and the bread loaf with soft surface into the medium-sized breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the bread with golden crust and drop them into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and put them in the beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the bread with golden crust and place in the breadbasket with ridged texture.",
+    "Pick the rectangular bread loaf and the rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Place the bread with golden crust and the rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and drop them into the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the bread with golden crust, drop in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the rectangular bread loaf and place in the beige breadbasket.",
+    "Pick the rectangular bread loaf and the bread with golden crust and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread loaf with soft surface, then place them in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the bread with golden crust with two arms, place in the breadbasket with ridged texture.",
+    "Place the rectangular bread loaf and the rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop them into the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and put them in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread with golden crust, drop in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Pick the bread with golden crust and the bread with golden crust and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread loaf with soft surface, then place them in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Place the rectangular bread loaf and the bread with golden crust into the medium-sized breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread with golden crust and the bread loaf with soft surface, drop in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the bread loaf with soft surface and place in the breadbasket with ridged texture.",
+    "Pick the bread with golden crust and the bread with golden crust and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the bread with golden crust and the rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Place the bread with golden crust and the rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread with golden crust and the bread with golden crust and drop them into the beige breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and put them in the medium-sized breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the bread with golden crust, drop in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the bread with golden crust and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rectangular bread loaf and the rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Pick the rectangular bread loaf and the rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread with golden crust, then place them in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface with two arms, place in the medium-sized breadbasket.",
+    "Place the bread loaf with soft surface and the rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread loaf with soft surface and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and put them in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf with soft surface and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread with golden crust and the bread with golden crust and place in the beige breadbasket.",
+    "Pick the bread with golden crust and the rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread with golden crust, then place them in the beige breadbasket.",
+    "Grab the bread with golden crust and the rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Place the bread loaf with soft surface and the rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf with soft surface and the rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and the bread with golden crust and drop it into the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the bread with golden crust and place in the beige breadbasket.",
+    "Pick the bread with golden crust and the bread with golden crust and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread loaf with soft surface, then place them in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with soft surface with two arms, place in the breadbasket with ridged texture.",
+    "Place the bread with golden crust and the bread with golden crust into the medium-sized breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the bread with golden crust and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the rectangular bread loaf and the rectangular bread loaf, drop in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the bread with golden crust and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread loaf with soft surface and the bread loaf with soft surface and place in the breadbasket with ridged texture.",
+    "Pick the rectangular bread loaf and the bread with golden crust and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the bread with golden crust, then place them in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and the rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Place the rectangular bread loaf and the bread loaf with soft surface into the medium-sized breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the rectangular bread loaf and drop them into the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and put them in the medium-sized breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the bread loaf with soft surface, drop in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and the bread with golden crust and drop it into the beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the rectangular bread loaf and place in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode18.json b/place_bread_basket/demo_randomized/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..b065cc9bb85f4b4758c55c3449fdf968ac47dd7c
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab two breads the small golden baked bread and the bread loaf with uneven edges and place in the round breadbasket.",
+    "Lift the soft doughy bread and the bread loaf with uneven edges with two arms, put in the spiral ridged breadbasket.",
+    "Pick the golden brown bread and the bread loaf with uneven edges, place them in the smooth beige breadbasket.",
+    "Shift the soft doughy bread and the doughy and soft bread together to the round breadbasket.",
+    "Take the golden brown bread and the soft bread, place them inside the breadbasket for baking.",
+    "Use two arms and set the golden brown bread, the bread loaf with bumpy surface in the medium breadbasket.",
+    "Simultaneously grab the golden brown bread with braided design and the bread block with light patches using the left arm, then drop them in the smooth beige breadbasket.",
+    "Shift the round bread with braided top and the square-shaped bread into the medium breadbasket",
+    "Move the smooth crusty small bread and the hand-sized bread block at once into the palm-sized breadbasket.",
+    "Lift the bread with golden crust and the bread with rough texture at once with the left arm, then set them in the palm-sized breadbasket.",
+    "Use both arms to move the round bread with crusty texture, the bread with rough texture to the breadbasket for dough.",
+    "Take the golden bread loaf with soft inside and the hand-sized bread block together and place them into the palm-sized breadbasket.",
+    "Take the round bread with crusty texture and the golden bread then place in the medium breadbasket.",
+    "Take the bread with golden crust and the bread with rough texture to the breadbasket made of woven wood",
+    "Pick the smooth crusty small bread and the golden bread loaf for the the smooth beige breadbasket",
+    "Move the soft golden bread and the hand-sized bread block to the spiral ridged breadbasket",
+    "Grab both the round bread with crusty texture and the golden bread, drop into the breadbasket made of woven wood.",
+    "Put the soft golden bread and the bread loaf with uneven edges into the wooden breadbasket using two arms.",
+    "Simultaneously use the left arm to drop the small bread and the cuboid bread in the breadbasket for dough.",
+    "Use the left arm to place the golden brown bread and the hand-sized bread block into the medium breadbasket.",
+    "Simultaneously grab the round bread with braided top and the bread loaf with bumpy surface, drop in the breadbasket shaped like a bowl.",
+    "Place the soft doughy bread and the cuboid bread in the breadbasket for baking using the left arm",
+    "Pick the bread with golden crust and the cuboid bread and set them in the breadbasket with spiral lines.",
+    "Grab both the golden brown bread with braided design and the hand-sized bread block with the left arm and place in the breadbasket for baking.",
+    "Grab the round bread with crusty texture and the golden bread loaf quickly and drop them into the breadbasket shaped like a bowl.",
+    "Pick up both the golden brown bread with braided design and the square-shaped bread, then place them in the palm-sized breadbasket.",
+    "Grab two breads the small bread and the soft bread and place in the breadbasket for baking.",
+    "Lift the golden brown bread with braided design and the golden bread with two arms, put in the palm-sized breadbasket.",
+    "Pick the golden brown bread with braided design and the cuboid bread, place them in the medium breadbasket.",
+    "Shift the small bread and the hand-sized bread block together to the breadbasket shaped like a bowl.",
+    "Take the small bread and the doughy and soft bread, place them inside the breadbasket shaped like a bowl.",
+    "Use two arms and set the braided bread loaf, the bread with rough texture in the breadbasket with flat base.",
+    "Simultaneously grab the braided bread loaf and the hand-sized bread block using the left arm, then drop them in the breadbasket for baking.",
+    "Shift the round bread with crusty texture and the soft bread into the palm-sized breadbasket",
+    "Move the golden brown bread with braided design and the golden bread loaf at once into the breadbasket with flat base.",
+    "Lift the small golden baked bread and the hand-sized bread block at once with the left arm, then set them in the breadbasket for baking.",
+    "Use both arms to move the bread with golden crust, the bread with rough texture to the breadbasket with flat base.",
+    "Take the golden brown bread with braided design and the soft bread together and place them into the breadbasket with spiral lines.",
+    "Take the small bread and the bread block with light patches then place in the palm-sized breadbasket.",
+    "Take the bread with golden crust and the cuboid bread to the medium breadbasket",
+    "Pick the smooth crusty small bread and the bread block with light patches for the the breadbasket for baking",
+    "Move the small bread and the light golden brown bread to the palm-sized breadbasket",
+    "Grab both the golden brown bread with braided design and the soft bread, drop into the round breadbasket.",
+    "Put the small bread and the bread loaf with uneven edges into the breadbasket with spiral lines using two arms.",
+    "Simultaneously use the left arm to drop the round bread with braided top and the square-shaped bread in the breadbasket with flat base.",
+    "Use the left arm to place the bread with golden crust and the doughy and soft bread into the breadbasket for dough.",
+    "Simultaneously grab the small bread and the bread with rough texture, drop in the spiral ridged breadbasket.",
+    "Place the smooth crusty small bread and the light golden brown bread in the breadbasket made of woven wood using the left arm",
+    "Pick the round bread with crusty texture and the doughy and soft bread and set them in the spiral ridged breadbasket.",
+    "Grab both the soft golden bread and the square-shaped bread with the left arm and place in the breadbasket for dough.",
+    "Grab the round bread with crusty texture and the bread loaf with bumpy surface quickly and drop them into the wooden breadbasket.",
+    "Pick up both the smooth crusty small bread and the doughy and soft bread, then place them in the medium breadbasket.",
+    "Grab two breads the soft doughy bread and the bread block with light patches and place in the breadbasket shaped like a bowl.",
+    "Lift the soft golden bread and the hand-sized bread block with two arms, put in the breadbasket shaped like a bowl.",
+    "Pick the smooth crusty small bread and the hand-sized bread block, place them in the medium breadbasket.",
+    "Shift the soft golden bread and the soft bread together to the breadbasket for dough.",
+    "Take the smooth crusty small bread and the bread block with light patches, place them inside the palm-sized breadbasket.",
+    "Use two arms and set the bread with golden crust, the bread with rough texture in the breadbasket made of woven wood.",
+    "Simultaneously grab the golden bread loaf with soft inside and the hand-sized bread block using the left arm, then drop them in the breadbasket for baking.",
+    "Shift the round bread with braided top and the doughy and soft bread into the breadbasket shaped like a bowl",
+    "Move the round bread with braided top and the soft bread at once into the breadbasket with spiral lines.",
+    "Lift the smooth crusty small bread and the hand-sized bread block at once with the left arm, then set them in the palm-sized breadbasket.",
+    "Use both arms to move the soft doughy bread, the bread loaf with bumpy surface to the breadbasket made of woven wood.",
+    "Take the small golden baked bread and the light golden brown bread together and place them into the smooth beige breadbasket.",
+    "Take the soft doughy bread and the light golden brown bread then place in the spiral ridged breadbasket.",
+    "Take the golden bread loaf with soft inside and the bread loaf with bumpy surface to the breadbasket made of woven wood",
+    "Pick the soft golden bread and the square-shaped bread for the the breadbasket for baking",
+    "Move the small bread and the hand-sized bread block to the spiral ridged breadbasket",
+    "Grab both the soft golden bread and the bread loaf with uneven edges, drop into the breadbasket for dough.",
+    "Put the soft doughy bread and the soft bread into the breadbasket made of woven wood using two arms.",
+    "Simultaneously use the left arm to drop the round bread with braided top and the square-shaped bread in the medium breadbasket.",
+    "Use the left arm to place the golden bread loaf with soft inside and the light golden brown bread into the breadbasket with flat base.",
+    "Simultaneously grab the round bread with braided top and the hand-sized bread block, drop in the breadbasket made of woven wood.",
+    "Place the braided bread loaf and the golden bread loaf in the wooden breadbasket using the left arm",
+    "Pick the bread with golden crust and the bread block with light patches and set them in the round breadbasket.",
+    "Grab both the round bread with braided top and the light golden brown bread with the left arm and place in the round breadbasket.",
+    "Grab the bread with golden crust and the bread loaf with bumpy surface quickly and drop them into the breadbasket with flat base.",
+    "Pick up both the soft doughy bread and the golden bread loaf, then place them in the breadbasket made of woven wood.",
+    "Grab two breads the smooth crusty small bread and the cuboid bread and place in the wooden breadbasket.",
+    "Lift the soft doughy bread and the doughy and soft bread with two arms, put in the breadbasket with spiral lines.",
+    "Pick the soft golden bread and the golden bread loaf, place them in the medium breadbasket.",
+    "Shift the round bread with crusty texture and the bread loaf with bumpy surface together to the round breadbasket.",
+    "Take the round bread with braided top and the bread block with light patches, place them inside the breadbasket made of woven wood.",
+    "Use two arms and set the soft golden bread, the doughy and soft bread in the breadbasket for dough.",
+    "Simultaneously grab the golden bread loaf with soft inside and the bread block with light patches using the left arm, then drop them in the breadbasket for dough.",
+    "Shift the small bread and the cuboid bread into the smooth beige breadbasket",
+    "Move the golden brown bread with braided design and the golden bread loaf at once into the smooth beige breadbasket.",
+    "Lift the smooth crusty small bread and the cuboid bread at once with the left arm, then set them in the breadbasket with spiral lines.",
+    "Use both arms to move the small golden baked bread, the bread loaf with uneven edges to the breadbasket made of woven wood.",
+    "Take the soft golden bread and the golden bread loaf together and place them into the medium breadbasket.",
+    "Take the soft doughy bread and the cuboid bread then place in the breadbasket made of woven wood.",
+    "Take the small bread and the golden bread loaf to the palm-sized breadbasket",
+    "Pick the round bread with crusty texture and the hand-sized bread block for the the breadbasket shaped like a bowl",
+    "Move the braided bread loaf and the soft bread to the breadbasket with flat base",
+    "Grab both the small bread and the golden bread loaf, drop into the medium breadbasket.",
+    "Put the smooth crusty small bread and the golden bread into the breadbasket for baking using two arms.",
+    "Simultaneously use the left arm to drop the soft golden bread and the soft bread in the palm-sized breadbasket.",
+    "Use the left arm to place the bread with golden crust and the bread loaf with uneven edges into the breadbasket with flat base.",
+    "Simultaneously grab the golden brown bread and the cuboid bread, drop in the medium breadbasket.",
+    "Place the smooth crusty small bread and the golden bread loaf in the breadbasket with flat base using the left arm"
+  ],
+  "unseen": [
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop it into the round beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and put them in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the rectangular bread loaf, drop in the round beige breadbasket.",
+    "Use the left arm to pick the round braided loaf and the rectangular bread loaf and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface with two arms, place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop them into the light wooden breadbasket.",
+    "Use the left arm to pick up the round braided loaf and the rectangular bread loaf, then place them in the round beige breadbasket.",
+    "Pick the round braided loaf and the bread with golden crust and place them in the beige breadbasket.",
+    "Place the palm-sized braided golden bread and the bread loaf with soft surface into the beige breadbasket using the left arm",
+    "Grab the braided top round bread and the rectangular bread loaf and drop it into the round beige breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and put them in the light wooden breadbasket.",
+    "Use one arm to grab the braided top round bread and the bread with golden crust, drop in the round beige breadbasket.",
+    "Use the left arm to pick the braided top round bread and the bread loaf with soft surface and place in the light wooden breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf with two arms, place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and drop them into the round beige breadbasket.",
+    "Use the left arm to pick up the braided top round bread and the bread loaf with soft surface, then place them in the light wooden breadbasket.",
+    "Pick the braided top round bread and the rectangular bread loaf and place them in the beige breadbasket.",
+    "Place the braided top round bread and the bread with golden crust into the beige breadbasket using the left arm",
+    "Grab the braided top round bread and the bread with golden crust and drop it into the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and put them in the round beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the bread with golden crust, drop in the round beige breadbasket.",
+    "Use the left arm to pick the braided top round bread and the rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust with two arms, place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop them into the round beige breadbasket.",
+    "Use the left arm to pick up the round braided loaf and the bread with golden crust, then place them in the round beige breadbasket.",
+    "Pick the round braided loaf and the bread with golden crust and place them in the light wooden breadbasket.",
+    "Place the round braided loaf and the bread loaf with soft surface into the beige breadbasket using the left arm",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and drop it into the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and put them in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the rectangular bread loaf, drop in the beige breadbasket.",
+    "Use the left arm to pick the braided top round bread and the bread with golden crust and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf with two arms, place in the round beige breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and drop them into the round beige breadbasket.",
+    "Use the left arm to pick up the braided top round bread and the bread loaf with soft surface, then place them in the light wooden breadbasket.",
+    "Pick the braided top round bread and the bread loaf with soft surface and place them in the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the rectangular bread loaf into the round beige breadbasket using the left arm",
+    "Grab the braided top round bread and the bread with golden crust and drop it into the beige breadbasket.",
+    "Grab the round braided loaf and the rectangular bread loaf and put them in the beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread loaf with soft surface, drop in the light wooden breadbasket.",
+    "Use the left arm to pick the round braided loaf and the bread with golden crust and place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf with two arms, place in the round beige breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface and drop them into the beige breadbasket.",
+    "Use the left arm to pick up the braided top round bread and the rectangular bread loaf, then place them in the round beige breadbasket.",
+    "Pick the round braided loaf and the bread loaf with soft surface and place them in the beige breadbasket.",
+    "Place the round braided loaf and the bread loaf with soft surface into the light wooden breadbasket using the left arm",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop it into the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and put them in the light wooden breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the rectangular bread loaf, drop in the light wooden breadbasket.",
+    "Use the left arm to pick the palm-sized braided golden bread and the bread with golden crust and place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf with two arms, place in the round beige breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and drop them into the round beige breadbasket.",
+    "Use the left arm to pick up the palm-sized braided golden bread and the rectangular bread loaf, then place them in the light wooden breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread with golden crust and place them in the round beige breadbasket.",
+    "Place the round braided loaf and the bread loaf with soft surface into the round beige breadbasket using the left arm",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop it into the round beige breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and put them in the light wooden breadbasket.",
+    "Use one arm to grab the braided top round bread and the bread with golden crust, drop in the round beige breadbasket.",
+    "Use the left arm to pick the round braided loaf and the bread with golden crust and place in the beige breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface with two arms, place in the round beige breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface and drop them into the beige breadbasket.",
+    "Use the left arm to pick up the palm-sized braided golden bread and the bread with golden crust, then place them in the beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the rectangular bread loaf and place them in the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the bread loaf with soft surface into the beige breadbasket using the left arm",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop it into the round beige breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and put them in the round beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread with golden crust, drop in the beige breadbasket.",
+    "Use the left arm to pick the palm-sized braided golden bread and the bread loaf with soft surface and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface with two arms, place in the round beige breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and drop them into the beige breadbasket.",
+    "Use the left arm to pick up the palm-sized braided golden bread and the bread with golden crust, then place them in the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread with golden crust and place them in the light wooden breadbasket.",
+    "Place the braided top round bread and the bread loaf with soft surface into the round beige breadbasket using the left arm",
+    "Grab the braided top round bread and the rectangular bread loaf and drop it into the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and put them in the round beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the rectangular bread loaf, drop in the round beige breadbasket.",
+    "Use the left arm to pick the braided top round bread and the bread loaf with soft surface and place in the beige breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust with two arms, place in the beige breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and drop them into the round beige breadbasket.",
+    "Use the left arm to pick up the braided top round bread and the bread loaf with soft surface, then place them in the light wooden breadbasket.",
+    "Pick the braided top round bread and the bread loaf with soft surface and place them in the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the rectangular bread loaf into the beige breadbasket using the left arm",
+    "Grab the braided top round bread and the bread with golden crust and drop it into the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and put them in the light wooden breadbasket.",
+    "Use one arm to grab the braided top round bread and the rectangular bread loaf, drop in the round beige breadbasket.",
+    "Use the left arm to pick the palm-sized braided golden bread and the bread loaf with soft surface and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust with two arms, place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface and drop them into the light wooden breadbasket.",
+    "Use the left arm to pick up the round braided loaf and the bread loaf with soft surface, then place them in the light wooden breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread with golden crust and place them in the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the bread loaf with soft surface into the round beige breadbasket using the left arm",
+    "Grab the round braided loaf and the rectangular bread loaf and drop it into the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and put them in the light wooden breadbasket.",
+    "Use one arm to grab the braided top round bread and the rectangular bread loaf, drop in the round beige breadbasket.",
+    "Use the left arm to pick the braided top round bread and the bread loaf with soft surface and place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface and drop them into the light wooden breadbasket.",
+    "Use the left arm to pick up the round braided loaf and the bread loaf with soft surface, then place them in the beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the rectangular bread loaf and place them in the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the rectangular bread loaf into the light wooden breadbasket using the left arm",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop it into the round beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode19.json b/place_bread_basket/demo_randomized/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..43c339a64698046e26b37e7934dbc7384d18b0fe
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the cuboid bread for the oval-shaped breadbasket",
+    "Move the soft bread to the beige basket with white grid design using one arm.",
+    "Lift the bread loaf with bumpy surface and transfer to the basket for bread beige plastic.",
+    "Put the soft bread into the white oval breadbasket after grabbing it.",
+    "Pick up the golden bread and drop it in the smooth textured breadbasket.",
+    "Pick the hand-sized bread block and put it into the oval-shaped breadbasket.",
+    "Grab the doughy and soft bread with the right arm and drop it in the oval perforated breadbasket white edges.",
+    "Lift the bread block with light patches and set it in the oval perforated breadbasket white edges.",
+    "Grab the bread with rough texture, drop it into the medium oval basket for bread.",
+    "Grab the cuboid bread for the beige basket with white grid design with the right arm",
+    "Grab the bread loaf with bumpy surface with one hand and set it in the beige plastic breadbasket.",
+    "Grab the square-shaped bread with an arm and set in the medium oval basket for bread.",
+    "Drop the hand-sized bread block into the basket for bread beige plastic",
+    "Pick the bread loaf with bumpy surface and move it to the oval-shaped breadbasket.",
+    "Put the soft bread into the white oval breadbasket using an arm.",
+    "Use the right arm to grab the doughy and soft bread and drop it inside the oval perforated breadbasket white edges.",
+    "Pick up the doughy and soft bread and put it in the basket for bread beige plastic.",
+    "Use the right arm to grab the doughy and soft bread for the oval-shaped breadbasket",
+    "Move the bread with rough texture to the oval-shaped breadbasket using one arm.",
+    "Lift the golden bread and transfer to the beige plastic breadbasket.",
+    "Put the bread loaf with uneven edges into the medium oval basket for bread after grabbing it.",
+    "Pick up the doughy and soft bread and drop it in the medium oval basket for bread.",
+    "Pick the golden bread loaf and put it into the beige plastic breadbasket.",
+    "Grab the light golden brown bread with the right arm and drop it in the beige plastic breadbasket.",
+    "Lift the doughy and soft bread and set it in the medium plastic breadbasket oval shape.",
+    "Grab the golden bread loaf, drop it into the white oval breadbasket.",
+    "Grab the cuboid bread for the medium breadbasket with perforated sides with the right arm",
+    "Grab the cuboid bread with one hand and set it in the oval-shaped breadbasket.",
+    "Grab the light golden brown bread with an arm and set in the beige plastic breadbasket.",
+    "Drop the bread with rough texture into the medium plastic breadbasket oval shape",
+    "Pick the bread with rough texture and move it to the smooth textured breadbasket.",
+    "Put the golden bread loaf into the oval-shaped breadbasket using an arm.",
+    "Use the right arm to grab the bread loaf with uneven edges and drop it inside the basket for carrying bread beige.",
+    "Pick up the bread loaf with uneven edges and put it in the medium breadbasket with perforated sides.",
+    "Use the right arm to grab the soft bread for the medium oval basket for bread",
+    "Move the bread loaf with bumpy surface to the oval perforated breadbasket white edges using one arm.",
+    "Lift the hand-sized bread block and transfer to the beige plastic breadbasket.",
+    "Put the soft bread into the smooth textured breadbasket after grabbing it.",
+    "Pick up the golden bread loaf and drop it in the medium plastic breadbasket oval shape.",
+    "Pick the square-shaped bread and put it into the medium plastic breadbasket oval shape.",
+    "Grab the square-shaped bread with the right arm and drop it in the basket for carrying bread beige.",
+    "Lift the hand-sized bread block and set it in the medium oval basket for bread.",
+    "Grab the cuboid bread, drop it into the oval-shaped breadbasket.",
+    "Grab the golden bread loaf for the medium breadbasket with perforated sides with the right arm",
+    "Grab the bread loaf with uneven edges with one hand and set it in the basket for carrying bread beige.",
+    "Grab the bread loaf with uneven edges with an arm and set in the beige basket with white grid design.",
+    "Drop the golden bread into the smooth textured breadbasket",
+    "Pick the cuboid bread and move it to the medium oval basket for bread.",
+    "Put the cuboid bread into the beige plastic breadbasket using an arm.",
+    "Use the right arm to grab the square-shaped bread and drop it inside the basket for carrying bread beige.",
+    "Pick up the golden bread and put it in the medium oval basket for bread.",
+    "Use the right arm to grab the bread with rough texture for the beige basket with white grid design",
+    "Move the bread block with light patches to the oval-shaped breadbasket using one arm.",
+    "Lift the bread block with light patches and transfer to the white oval breadbasket.",
+    "Put the hand-sized bread block into the oval perforated breadbasket white edges after grabbing it.",
+    "Pick up the hand-sized bread block and drop it in the oval perforated breadbasket white edges.",
+    "Pick the light golden brown bread and put it into the oval-shaped breadbasket.",
+    "Grab the doughy and soft bread with the right arm and drop it in the medium oval basket for bread.",
+    "Lift the cuboid bread and set it in the beige breadbasket.",
+    "Grab the light golden brown bread, drop it into the medium breadbasket with perforated sides.",
+    "Grab the doughy and soft bread for the beige basket with white grid design with the right arm",
+    "Grab the doughy and soft bread with one hand and set it in the medium oval basket for bread.",
+    "Grab the bread block with light patches with an arm and set in the beige basket with white grid design.",
+    "Drop the square-shaped bread into the basket for carrying bread beige",
+    "Pick the hand-sized bread block and move it to the medium oval basket for bread.",
+    "Put the square-shaped bread into the white oval breadbasket using an arm.",
+    "Use the right arm to grab the bread loaf with bumpy surface and drop it inside the medium oval basket for bread.",
+    "Pick up the hand-sized bread block and put it in the oval perforated breadbasket white edges.",
+    "Use the right arm to grab the square-shaped bread for the basket for carrying bread beige",
+    "Move the doughy and soft bread to the beige plastic breadbasket using one arm.",
+    "Lift the light golden brown bread and transfer to the basket for carrying bread beige.",
+    "Put the bread loaf with uneven edges into the smooth textured breadbasket after grabbing it.",
+    "Pick up the bread loaf with uneven edges and drop it in the medium plastic breadbasket oval shape.",
+    "Pick the bread block with light patches and put it into the medium oval basket for bread.",
+    "Grab the cuboid bread with the right arm and drop it in the beige plastic breadbasket.",
+    "Lift the bread loaf with bumpy surface and set it in the medium oval basket for bread.",
+    "Grab the bread with rough texture, drop it into the oval perforated breadbasket white edges.",
+    "Grab the doughy and soft bread for the medium oval basket for bread with the right arm",
+    "Grab the cuboid bread with one hand and set it in the medium oval basket for bread.",
+    "Grab the soft bread with an arm and set in the beige breadbasket.",
+    "Drop the light golden brown bread into the medium oval basket for bread",
+    "Pick the square-shaped bread and move it to the medium oval basket for bread.",
+    "Put the bread loaf with bumpy surface into the beige breadbasket using an arm.",
+    "Use the right arm to grab the bread loaf with bumpy surface and drop it inside the medium breadbasket with perforated sides.",
+    "Pick up the golden bread and put it in the smooth textured breadbasket.",
+    "Use the right arm to grab the hand-sized bread block for the oval-shaped breadbasket",
+    "Move the bread loaf with bumpy surface to the medium breadbasket with perforated sides using one arm.",
+    "Lift the cuboid bread and transfer to the basket for carrying bread beige.",
+    "Put the square-shaped bread into the medium oval basket for bread after grabbing it.",
+    "Pick up the square-shaped bread and drop it in the oval-shaped breadbasket.",
+    "Pick the bread with rough texture and put it into the white oval breadbasket.",
+    "Grab the doughy and soft bread with the right arm and drop it in the oval perforated breadbasket white edges.",
+    "Lift the bread loaf with bumpy surface and set it in the medium breadbasket with perforated sides.",
+    "Grab the golden bread loaf, drop it into the beige basket with white grid design.",
+    "Grab the bread block with light patches for the medium breadbasket with perforated sides with the right arm",
+    "Grab the hand-sized bread block with one hand and set it in the smooth textured breadbasket.",
+    "Grab the doughy and soft bread with an arm and set in the beige plastic breadbasket.",
+    "Drop the cuboid bread into the basket for carrying bread beige",
+    "Pick the square-shaped bread and move it to the medium oval basket for bread.",
+    "Put the cuboid bread into the white oval breadbasket using an arm."
+  ],
+  "unseen": [
+    "Use the right arm to pick up the bread with golden crust, then place it in the white basket with beige bottom.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with smooth bottom grid sides.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the rectangular bread loaf with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and drop it into the white basket with beige bottom.",
+    "Pick the bread loaf with soft surface and place it in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and put it in the white basket with beige bottom.",
+    "Place the bread loaf with soft surface into the breadbasket with hollowed white walls using the right arm",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Pick the bread loaf with soft surface and drop it in the white basket with beige bottom",
+    "Grab the rectangular bread loaf with one arm, place in the white basket with beige bottom.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and place it in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust into the white basket with beige bottom using the right arm",
+    "Use the right arm to pick up the bread with golden crust, then place it in the white basket with beige bottom.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the breadbasket with smooth bottom grid sides.",
+    "Pick the bread with golden crust and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the rectangular bread loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and put it in the white basket with beige bottom.",
+    "Place the bread with golden crust into the white basket with beige bottom using the right arm",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread with golden crust, drop in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with hollowed white walls",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and put it in the breadbasket with smooth bottom grid sides.",
+    "Place the bread with golden crust into the white basket with beige bottom using the right arm",
+    "Use the right arm to pick up the bread with golden crust, then place it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread with golden crust, drop in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with hollowed white walls",
+    "Grab the bread loaf with soft surface with one arm, place in the white basket with beige bottom.",
+    "Use the right arm to pick the bread with golden crust and place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and drop it into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and put it in the white basket with beige bottom.",
+    "Place the rectangular bread loaf into the breadbasket with hollowed white walls using the right arm",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with smooth bottom grid sides.",
+    "Pick the bread with golden crust and drop it in the white basket with beige bottom",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and put it in the white basket with beige bottom.",
+    "Place the bread with golden crust into the breadbasket with hollowed white walls using the right arm",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the rectangular bread loaf and place in the white basket with beige bottom.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and drop it into the white basket with beige bottom.",
+    "Pick the bread loaf with soft surface and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and put it in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface into the breadbasket with hollowed white walls using the right arm",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with smooth bottom grid sides.",
+    "Pick the rectangular bread loaf and drop it in the white basket with beige bottom",
+    "Grab the bread loaf with soft surface with one arm, place in the white basket with beige bottom.",
+    "Use the right arm to pick the rectangular bread loaf and place in the white basket with beige bottom.",
+    "Grab the bread with golden crust and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the rectangular bread loaf and place it in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust into the breadbasket with smooth bottom grid sides using the right arm",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with hollowed white walls",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the rectangular bread loaf and place in the white basket with beige bottom.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and place it in the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and put it in the white basket with beige bottom.",
+    "Place the rectangular bread loaf into the breadbasket with hollowed white walls using the right arm",
+    "Use the right arm to pick up the bread with golden crust, then place it in the white basket with beige bottom.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the breadbasket with hollowed white walls.",
+    "Pick the bread with golden crust and drop it in the breadbasket with hollowed white walls",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the bread with golden crust and place in the white basket with beige bottom.",
+    "Grab the bread with golden crust and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and drop it into the white basket with beige bottom.",
+    "Pick the bread with golden crust and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and put it in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust into the breadbasket with smooth bottom grid sides using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode2.json b/place_bread_basket/demo_randomized/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4537e84d65b25f26bd4f85d8b9f12f4e2174c449
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the light golden brown bread and the bread with golden crust then place in the medium breadbasket.",
+    "Lift the bread with rough texture and the small golden baked bread at once with the dual arm, then set them in the spiral ridged breadbasket.",
+    "Place the golden bread and the soft golden bread in the breadbasket made of woven wood using the dual arm",
+    "Take the golden bread and the golden brown bread with braided design, place them inside the breadbasket with spiral lines.",
+    "Simultaneously grab the bread loaf with bumpy surface and the bread with golden crust, drop in the breadbasket with flat base.",
+    "Put the hand-sized bread block and the bread with golden crust into the breadbasket made of woven wood using two arms.",
+    "Take the cuboid bread and the golden bread loaf with soft inside to the breadbasket with spiral lines",
+    "Use two arms and set the bread loaf with uneven edges, the braided bread loaf in the breadbasket with flat base.",
+    "Lift the doughy and soft bread and the soft golden bread with two arms, put in the breadbasket for baking.",
+    "Use both arms to move the bread with rough texture, the smooth crusty small bread to the wooden breadbasket.",
+    "Simultaneously grab the bread block with light patches and the soft doughy bread using the dual arm, then drop them in the smooth beige breadbasket.",
+    "Simultaneously use the dual arm to drop the hand-sized bread block and the soft doughy bread in the breadbasket with spiral lines.",
+    "Pick up both the cuboid bread and the round bread with crusty texture, then place them in the breadbasket made of woven wood.",
+    "Pick the doughy and soft bread and the bread with golden crust, place them in the breadbasket shaped like a bowl.",
+    "Pick the hand-sized bread block and the round bread with crusty texture for the the palm-sized breadbasket",
+    "Grab both the bread block with light patches and the small bread, drop into the medium breadbasket.",
+    "Grab two breads the bread loaf with uneven edges and the golden bread loaf with soft inside and place in the breadbasket with flat base.",
+    "Shift the golden bread and the small bread together to the wooden breadbasket.",
+    "Move the square-shaped bread and the golden brown bread at once into the medium breadbasket.",
+    "Move the light golden brown bread and the golden brown bread to the breadbasket for baking",
+    "Pick the golden bread and the round bread with braided top and set them in the breadbasket with flat base.",
+    "Use the dual arm to place the golden bread and the small bread into the wooden breadbasket.",
+    "Grab the square-shaped bread and the soft doughy bread quickly and drop them into the breadbasket for dough.",
+    "Grab both the hand-sized bread block and the soft golden bread with the dual arm and place in the breadbasket shaped like a bowl.",
+    "Take the bread loaf with uneven edges and the golden brown bread with braided design together and place them into the breadbasket made of woven wood.",
+    "Shift the golden bread and the golden bread loaf with soft inside into the smooth beige breadbasket",
+    "Take the bread with rough texture and the small bread then place in the breadbasket with spiral lines.",
+    "Lift the square-shaped bread and the golden brown bread with braided design at once with the dual arm, then set them in the round breadbasket.",
+    "Place the hand-sized bread block and the braided bread loaf in the breadbasket with flat base using the dual arm",
+    "Take the soft bread and the bread with golden crust, place them inside the breadbasket with spiral lines.",
+    "Simultaneously grab the bread block with light patches and the small golden baked bread, drop in the round breadbasket.",
+    "Put the soft bread and the smooth crusty small bread into the breadbasket for dough using two arms.",
+    "Take the bread block with light patches and the soft doughy bread to the breadbasket made of woven wood",
+    "Use two arms and set the square-shaped bread, the soft golden bread in the spiral ridged breadbasket.",
+    "Lift the hand-sized bread block and the round bread with crusty texture with two arms, put in the breadbasket with spiral lines.",
+    "Use both arms to move the bread loaf with bumpy surface, the round bread with braided top to the breadbasket made of woven wood.",
+    "Simultaneously grab the golden bread and the smooth crusty small bread using the dual arm, then drop them in the breadbasket shaped like a bowl.",
+    "Simultaneously use the dual arm to drop the bread loaf with uneven edges and the small golden baked bread in the round breadbasket.",
+    "Pick up both the soft bread and the round bread with braided top, then place them in the smooth beige breadbasket.",
+    "Pick the golden bread loaf and the small bread, place them in the breadbasket shaped like a bowl.",
+    "Pick the bread loaf with uneven edges and the bread with golden crust for the the wooden breadbasket",
+    "Grab both the bread block with light patches and the smooth crusty small bread, drop into the breadbasket with flat base.",
+    "Grab two breads the square-shaped bread and the bread with golden crust and place in the breadbasket with spiral lines.",
+    "Shift the bread with rough texture and the golden brown bread together to the spiral ridged breadbasket.",
+    "Move the doughy and soft bread and the smooth crusty small bread at once into the smooth beige breadbasket.",
+    "Move the cuboid bread and the golden brown bread with braided design to the breadbasket for baking",
+    "Pick the hand-sized bread block and the smooth crusty small bread and set them in the breadbasket made of woven wood.",
+    "Use the dual arm to place the golden bread loaf and the round bread with crusty texture into the breadbasket for dough.",
+    "Grab the bread block with light patches and the golden brown bread with braided design quickly and drop them into the round breadbasket.",
+    "Grab both the doughy and soft bread and the bread with golden crust with the dual arm and place in the wooden breadbasket.",
+    "Take the hand-sized bread block and the golden brown bread with braided design together and place them into the breadbasket shaped like a bowl.",
+    "Shift the light golden brown bread and the golden brown bread into the breadbasket shaped like a bowl",
+    "Take the bread block with light patches and the small golden baked bread then place in the medium breadbasket.",
+    "Lift the square-shaped bread and the small golden baked bread at once with the dual arm, then set them in the breadbasket shaped like a bowl.",
+    "Place the golden bread loaf and the golden bread loaf with soft inside in the breadbasket shaped like a bowl using the dual arm",
+    "Take the golden bread and the smooth crusty small bread, place them inside the medium breadbasket.",
+    "Simultaneously grab the golden bread loaf and the golden brown bread, drop in the breadbasket with flat base.",
+    "Put the golden bread and the braided bread loaf into the smooth beige breadbasket using two arms.",
+    "Take the hand-sized bread block and the soft doughy bread to the breadbasket shaped like a bowl",
+    "Use two arms and set the light golden brown bread, the small bread in the breadbasket for dough.",
+    "Lift the bread loaf with uneven edges and the soft golden bread with two arms, put in the spiral ridged breadbasket.",
+    "Use both arms to move the light golden brown bread, the bread with golden crust to the breadbasket with spiral lines.",
+    "Simultaneously grab the bread with rough texture and the golden brown bread using the dual arm, then drop them in the breadbasket made of woven wood.",
+    "Simultaneously use the dual arm to drop the light golden brown bread and the bread with golden crust in the round breadbasket.",
+    "Pick up both the square-shaped bread and the soft doughy bread, then place them in the breadbasket with flat base.",
+    "Pick the cuboid bread and the golden brown bread, place them in the breadbasket made of woven wood.",
+    "Pick the bread with rough texture and the soft golden bread for the the breadbasket with spiral lines",
+    "Grab both the golden bread and the small golden baked bread, drop into the breadbasket made of woven wood.",
+    "Grab two breads the bread loaf with uneven edges and the bread with golden crust and place in the wooden breadbasket.",
+    "Shift the light golden brown bread and the golden brown bread together to the breadbasket made of woven wood.",
+    "Move the golden bread loaf and the golden brown bread with braided design at once into the spiral ridged breadbasket.",
+    "Move the bread block with light patches and the soft golden bread to the spiral ridged breadbasket",
+    "Pick the golden bread and the golden brown bread with braided design and set them in the spiral ridged breadbasket.",
+    "Use the dual arm to place the golden bread loaf and the golden brown bread with braided design into the smooth beige breadbasket.",
+    "Grab the hand-sized bread block and the bread with golden crust quickly and drop them into the breadbasket with flat base.",
+    "Grab both the soft bread and the golden bread loaf with soft inside with the dual arm and place in the spiral ridged breadbasket.",
+    "Take the hand-sized bread block and the soft doughy bread together and place them into the palm-sized breadbasket.",
+    "Shift the soft bread and the golden brown bread into the breadbasket shaped like a bowl",
+    "Take the light golden brown bread and the braided bread loaf then place in the breadbasket made of woven wood.",
+    "Lift the doughy and soft bread and the round bread with crusty texture at once with the dual arm, then set them in the breadbasket shaped like a bowl.",
+    "Place the bread loaf with uneven edges and the bread with golden crust in the palm-sized breadbasket using the dual arm",
+    "Take the soft bread and the round bread with crusty texture, place them inside the breadbasket for dough.",
+    "Simultaneously grab the hand-sized bread block and the soft doughy bread, drop in the spiral ridged breadbasket.",
+    "Put the bread loaf with uneven edges and the round bread with braided top into the breadbasket for dough using two arms.",
+    "Take the light golden brown bread and the small golden baked bread to the breadbasket made of woven wood",
+    "Use two arms and set the light golden brown bread, the round bread with braided top in the round breadbasket.",
+    "Lift the hand-sized bread block and the braided bread loaf with two arms, put in the medium breadbasket.",
+    "Use both arms to move the light golden brown bread, the golden brown bread to the breadbasket with flat base.",
+    "Simultaneously grab the golden bread and the small golden baked bread using the dual arm, then drop them in the medium breadbasket.",
+    "Simultaneously use the dual arm to drop the hand-sized bread block and the bread with golden crust in the breadbasket with spiral lines.",
+    "Pick up both the bread block with light patches and the small bread, then place them in the medium breadbasket.",
+    "Pick the cuboid bread and the small golden baked bread, place them in the breadbasket made of woven wood.",
+    "Pick the bread block with light patches and the small bread for the the wooden breadbasket",
+    "Grab both the hand-sized bread block and the smooth crusty small bread, drop into the breadbasket with spiral lines.",
+    "Grab two breads the golden bread loaf and the smooth crusty small bread and place in the breadbasket for baking.",
+    "Shift the bread loaf with bumpy surface and the golden brown bread together to the breadbasket shaped like a bowl.",
+    "Move the doughy and soft bread and the golden brown bread with braided design at once into the breadbasket for baking.",
+    "Move the bread with rough texture and the golden bread loaf with soft inside to the breadbasket with spiral lines",
+    "Pick the light golden brown bread and the bread with golden crust and set them in the breadbasket shaped like a bowl.",
+    "Use the dual arm to place the bread block with light patches and the braided bread loaf into the wooden breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread with golden crust and the palm-sized braided golden bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the braided top round bread, drop in the beige breadbasket.",
+    "Pick the rectangular bread loaf and the round braided loaf and place them in the beige breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and drop it into the round beige breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread and drop them into the light wooden breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the round braided loaf, then place them in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf and put them in the round beige breadbasket.",
+    "Place the bread with golden crust and the palm-sized braided golden bread into the light wooden breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the round braided loaf with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust and the palm-sized braided golden bread, drop in the beige breadbasket.",
+    "Pick the bread loaf with soft surface and the round braided loaf and place them in the beige breadbasket.",
+    "Grab the bread with golden crust and the palm-sized braided golden bread and drop it into the light wooden breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the braided top round bread and place in the light wooden breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the braided top round bread, then place them in the beige breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and put them in the round beige breadbasket.",
+    "Place the bread with golden crust and the round braided loaf into the light wooden breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the braided top round bread with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the bread with golden crust and the braided top round bread, drop in the round beige breadbasket.",
+    "Pick the bread loaf with soft surface and the braided top round bread and place them in the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf and drop it into the beige breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the round braided loaf and place in the round beige breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the palm-sized braided golden bread, then place them in the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf and put them in the round beige breadbasket.",
+    "Place the rectangular bread loaf and the braided top round bread into the round beige breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the round braided loaf with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the palm-sized braided golden bread, drop in the light wooden breadbasket.",
+    "Pick the bread loaf with soft surface and the braided top round bread and place them in the light wooden breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf and drop it into the round beige breadbasket.",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the palm-sized braided golden bread and place in the beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the palm-sized braided golden bread, then place them in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread and put them in the beige breadbasket.",
+    "Place the rectangular bread loaf and the palm-sized braided golden bread into the round beige breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the palm-sized braided golden bread, drop in the light wooden breadbasket.",
+    "Pick the bread with golden crust and the braided top round bread and place them in the round beige breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf and drop it into the round beige breadbasket.",
+    "Grab the rectangular bread loaf and the round braided loaf and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the round braided loaf and place in the beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the palm-sized braided golden bread, then place them in the round beige breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and put them in the beige breadbasket.",
+    "Place the rectangular bread loaf and the palm-sized braided golden bread into the light wooden breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the braided top round bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust and the palm-sized braided golden bread, drop in the round beige breadbasket.",
+    "Pick the bread with golden crust and the palm-sized braided golden bread and place them in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the braided top round bread and place in the light wooden breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the round braided loaf, then place them in the beige breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf and put them in the light wooden breadbasket.",
+    "Place the bread with golden crust and the palm-sized braided golden bread into the beige breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the braided top round bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the round braided loaf, drop in the beige breadbasket.",
+    "Pick the rectangular bread loaf and the palm-sized braided golden bread and place them in the light wooden breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread and drop it into the light wooden breadbasket.",
+    "Grab the bread with golden crust and the palm-sized braided golden bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the round braided loaf and place in the beige breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the palm-sized braided golden bread, then place them in the light wooden breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf and put them in the light wooden breadbasket.",
+    "Place the bread loaf with soft surface and the round braided loaf into the beige breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the bread with golden crust and the palm-sized braided golden bread, drop in the round beige breadbasket.",
+    "Pick the rectangular bread loaf and the palm-sized braided golden bread and place them in the light wooden breadbasket.",
+    "Grab the rectangular bread loaf and the round braided loaf and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the palm-sized braided golden bread and place in the beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the braided top round bread, then place them in the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and put them in the light wooden breadbasket.",
+    "Place the rectangular bread loaf and the round braided loaf into the light wooden breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the braided top round bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust and the palm-sized braided golden bread, drop in the light wooden breadbasket.",
+    "Pick the rectangular bread loaf and the palm-sized braided golden bread and place them in the light wooden breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf and drop it into the beige breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the braided top round bread and place in the beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the palm-sized braided golden bread, then place them in the round beige breadbasket.",
+    "Grab the rectangular bread loaf and the round braided loaf and put them in the light wooden breadbasket.",
+    "Place the bread with golden crust and the round braided loaf into the round beige breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the bread with golden crust and the braided top round bread, drop in the light wooden breadbasket.",
+    "Pick the bread loaf with soft surface and the palm-sized braided golden bread and place them in the beige breadbasket.",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread and drop it into the round beige breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and drop them into the light wooden breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the round braided loaf, then place them in the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and the braided top round bread and put them in the beige breadbasket.",
+    "Place the bread loaf with soft surface and the round braided loaf into the round beige breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the round braided loaf with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the palm-sized braided golden bread, drop in the beige breadbasket.",
+    "Pick the bread with golden crust and the palm-sized braided golden bread and place them in the round beige breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf and drop it into the beige breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and drop them into the light wooden breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the braided top round bread and place in the round beige breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the braided top round bread, then place them in the round beige breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf and put them in the beige breadbasket.",
+    "Place the bread loaf with soft surface and the palm-sized braided golden bread into the light wooden breadbasket using the dual arm",
+    "Grab the bread with golden crust and the round braided loaf with two arms, place in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode20.json b/place_bread_basket/demo_randomized/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..b485f7334e735fbbadec47a3dcaa56f8dfb2ebea
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simultaneously grab the braided bread loaf and the medium-sized bread piece using the dual arm, then drop them in the breadbasket with spiral lines.",
+    "Use the dual arm to place the soft doughy bread and the bread with soft texture into the breadbasket with spiral lines.",
+    "Lift the golden brown bread and the bread with rounded edges with two arms, put in the breadbasket made of woven wood.",
+    "Lift the small golden baked bread and the medium-sized bread piece at once with the dual arm, then set them in the smooth beige breadbasket.",
+    "Move the round bread with braided top and the square-shaped bread piece at once into the spiral ridged breadbasket.",
+    "Put the small golden baked bread and the golden baked bread into the breadbasket for dough using two arms.",
+    "Take the braided bread loaf and the square-shaped bread piece together and place them into the breadbasket shaped like a bowl.",
+    "Shift the round bread with crusty texture and the sponge-textured golden bread together to the round breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the medium bread with rounded sides, drop in the breadbasket with spiral lines.",
+    "Move the golden brown bread with braided design and the sponge-textured golden bread to the wooden breadbasket",
+    "Pick the small golden baked bread and the bread with soft texture, place them in the wooden breadbasket.",
+    "Pick the golden bread loaf with soft inside and the rounded square loaf and set them in the breadbasket for baking.",
+    "Take the bread with golden crust and the medium-sized bread piece to the breadbasket for dough",
+    "Grab the round bread with crusty texture and the sponge-textured golden bread quickly and drop them into the breadbasket with spiral lines.",
+    "Simultaneously use the dual arm to drop the smooth crusty small bread and the medium-sized bread piece in the wooden breadbasket.",
+    "Take the round bread with crusty texture and the golden baked bread, place them inside the breadbasket with flat base.",
+    "Grab two breads the golden brown bread and the medium bread with rounded sides and place in the smooth beige breadbasket.",
+    "Pick the soft golden bread and the light brown porous bread for the the breadbasket for dough",
+    "Use two arms and set the round bread with crusty texture, the medium-sized bread piece in the breadbasket with spiral lines.",
+    "Place the smooth crusty small bread and the golden brown bread in the spiral ridged breadbasket using the dual arm",
+    "Shift the round bread with braided top and the golden brown bread into the spiral ridged breadbasket",
+    "Take the bread with golden crust and the medium-sized bread piece then place in the breadbasket with spiral lines.",
+    "Pick up both the braided bread loaf and the medium bread with rounded sides, then place them in the breadbasket shaped like a bowl.",
+    "Grab both the smooth crusty small bread and the light brown porous bread with the dual arm and place in the wooden breadbasket.",
+    "Grab both the round bread with crusty texture and the bread with rounded edges, drop into the breadbasket for dough.",
+    "Use both arms to move the braided bread loaf, the bread with rounded edges to the breadbasket shaped like a bowl.",
+    "Simultaneously grab the golden bread loaf with soft inside and the bread with soft texture using the dual arm, then drop them in the breadbasket for dough.",
+    "Use the dual arm to place the small golden baked bread and the golden brown bread into the breadbasket for dough.",
+    "Lift the golden brown bread with braided design and the square-shaped bread piece with two arms, put in the breadbasket with flat base.",
+    "Lift the round bread with crusty texture and the bread with rounded edges at once with the dual arm, then set them in the spiral ridged breadbasket.",
+    "Move the golden brown bread with braided design and the light brown porous bread at once into the spiral ridged breadbasket.",
+    "Put the round bread with crusty texture and the fluffy baked bread into the breadbasket made of woven wood using two arms.",
+    "Take the small golden baked bread and the bread with rounded edges together and place them into the spiral ridged breadbasket.",
+    "Shift the golden brown bread and the bread with rounded edges together to the smooth beige breadbasket.",
+    "Simultaneously grab the bread with golden crust and the medium bread with rounded sides, drop in the spiral ridged breadbasket.",
+    "Move the round bread with crusty texture and the golden brown bread to the smooth beige breadbasket",
+    "Pick the small golden baked bread and the rounded square loaf, place them in the palm-sized breadbasket.",
+    "Pick the soft doughy bread and the light brown porous bread and set them in the breadbasket with spiral lines.",
+    "Take the small golden baked bread and the sponge-textured golden bread to the breadbasket made of woven wood",
+    "Grab the smooth crusty small bread and the medium-sized bread piece quickly and drop them into the wooden breadbasket.",
+    "Simultaneously use the dual arm to drop the small bread and the medium-sized bread piece in the breadbasket with flat base.",
+    "Take the small bread and the rounded square loaf, place them inside the breadbasket made of woven wood.",
+    "Grab two breads the small bread and the golden brown bread and place in the round breadbasket.",
+    "Pick the golden brown bread and the rounded square loaf for the the palm-sized breadbasket",
+    "Use two arms and set the bread with golden crust, the bread with rounded edges in the breadbasket made of woven wood.",
+    "Place the golden brown bread with braided design and the medium bread with rounded sides in the wooden breadbasket using the dual arm",
+    "Shift the golden brown bread with braided design and the sponge-textured golden bread into the smooth beige breadbasket",
+    "Take the small golden baked bread and the bread with soft texture then place in the breadbasket with spiral lines.",
+    "Pick up both the round bread with braided top and the golden baked bread, then place them in the palm-sized breadbasket.",
+    "Grab both the small bread and the golden baked bread with the dual arm and place in the spiral ridged breadbasket.",
+    "Grab both the golden brown bread and the medium-sized bread piece, drop into the wooden breadbasket.",
+    "Use both arms to move the round bread with crusty texture, the golden baked bread to the round breadbasket.",
+    "Simultaneously grab the golden brown bread with braided design and the golden brown bread using the dual arm, then drop them in the round breadbasket.",
+    "Use the dual arm to place the braided bread loaf and the fluffy baked bread into the breadbasket with flat base.",
+    "Lift the smooth crusty small bread and the golden baked bread with two arms, put in the breadbasket for dough.",
+    "Lift the golden brown bread with braided design and the golden baked bread at once with the dual arm, then set them in the breadbasket shaped like a bowl.",
+    "Move the golden bread loaf with soft inside and the bread with rounded edges at once into the breadbasket with spiral lines.",
+    "Put the golden bread loaf with soft inside and the sponge-textured golden bread into the breadbasket for dough using two arms.",
+    "Take the round bread with braided top and the medium-sized bread piece together and place them into the smooth beige breadbasket.",
+    "Shift the round bread with braided top and the golden brown bread together to the smooth beige breadbasket.",
+    "Simultaneously grab the soft doughy bread and the medium-sized bread piece, drop in the breadbasket with flat base.",
+    "Move the soft golden bread and the square-shaped bread piece to the breadbasket shaped like a bowl",
+    "Pick the small golden baked bread and the sponge-textured golden bread, place them in the smooth beige breadbasket.",
+    "Pick the small golden baked bread and the rounded square loaf and set them in the spiral ridged breadbasket.",
+    "Take the smooth crusty small bread and the medium-sized bread piece to the breadbasket for baking",
+    "Grab the soft golden bread and the rounded square loaf quickly and drop them into the palm-sized breadbasket.",
+    "Simultaneously use the dual arm to drop the soft golden bread and the bread with rounded edges in the round breadbasket.",
+    "Take the soft golden bread and the bread with rounded edges, place them inside the breadbasket for dough.",
+    "Grab two breads the braided bread loaf and the medium-sized bread piece and place in the palm-sized breadbasket.",
+    "Pick the braided bread loaf and the medium bread with rounded sides for the the smooth beige breadbasket",
+    "Use two arms and set the small golden baked bread, the sponge-textured golden bread in the breadbasket shaped like a bowl.",
+    "Place the small golden baked bread and the golden brown bread in the spiral ridged breadbasket using the dual arm",
+    "Shift the golden brown bread and the bread with soft texture into the breadbasket with flat base",
+    "Take the golden brown bread and the square-shaped bread piece then place in the breadbasket with spiral lines.",
+    "Pick up both the soft golden bread and the fluffy baked bread, then place them in the breadbasket shaped like a bowl.",
+    "Grab both the golden brown bread and the light brown porous bread with the dual arm and place in the wooden breadbasket.",
+    "Grab both the braided bread loaf and the square-shaped bread piece, drop into the breadbasket with flat base.",
+    "Use both arms to move the golden bread loaf with soft inside, the golden baked bread to the breadbasket for baking.",
+    "Simultaneously grab the golden brown bread with braided design and the square-shaped bread piece using the dual arm, then drop them in the round breadbasket.",
+    "Use the dual arm to place the braided bread loaf and the bread with soft texture into the breadbasket made of woven wood.",
+    "Lift the bread with golden crust and the sponge-textured golden bread with two arms, put in the breadbasket made of woven wood.",
+    "Lift the soft golden bread and the square-shaped bread piece at once with the dual arm, then set them in the breadbasket with spiral lines.",
+    "Move the golden bread loaf with soft inside and the fluffy baked bread at once into the breadbasket for baking.",
+    "Put the braided bread loaf and the bread with soft texture into the palm-sized breadbasket using two arms.",
+    "Take the braided bread loaf and the medium bread with rounded sides together and place them into the breadbasket for baking.",
+    "Shift the small bread and the sponge-textured golden bread together to the breadbasket for baking.",
+    "Simultaneously grab the smooth crusty small bread and the light brown porous bread, drop in the medium breadbasket.",
+    "Move the golden brown bread with braided design and the golden brown bread to the palm-sized breadbasket",
+    "Pick the golden brown bread with braided design and the sponge-textured golden bread, place them in the wooden breadbasket.",
+    "Pick the golden brown bread with braided design and the soft square bread and set them in the palm-sized breadbasket.",
+    "Take the golden brown bread with braided design and the square-shaped bread piece to the wooden breadbasket",
+    "Grab the soft doughy bread and the golden brown bread quickly and drop them into the breadbasket for dough.",
+    "Simultaneously use the dual arm to drop the small bread and the medium bread with rounded sides in the spiral ridged breadbasket.",
+    "Take the golden brown bread and the soft square bread, place them inside the breadbasket made of woven wood.",
+    "Grab two breads the golden bread loaf with soft inside and the medium-sized bread piece and place in the breadbasket for dough.",
+    "Pick the golden brown bread with braided design and the bread with soft texture for the the spiral ridged breadbasket",
+    "Use two arms and set the golden brown bread, the medium bread with rounded sides in the breadbasket with spiral lines.",
+    "Place the round bread with crusty texture and the bread with rounded edges in the breadbasket for baking using the dual arm",
+    "Shift the golden brown bread and the square-shaped bread piece into the round breadbasket",
+    "Take the soft golden bread and the rounded square loaf then place in the breadbasket with flat base."
+  ],
+  "unseen": [
+    "Grab the round braided loaf and the square bread with light spots and drop them into the beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the light wooden breadbasket.",
+    "Pick the braided top round bread and the square bread with light spots and place them in the beige breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the spongy golden brown bread and place in the light wooden breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and put them in the round beige breadbasket.",
+    "Place the braided top round bread and the square bread with light spots into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots with two arms, place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots and drop them into the beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the spongy golden brown bread, drop in the light wooden breadbasket.",
+    "Pick the braided top round bread and the spongy golden brown bread and place them in the round beige breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the square bread with light spots and place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Place the round braided loaf and the spongy golden brown bread into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots with two arms, place in the light wooden breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop it into the round beige breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop them into the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the beige breadbasket.",
+    "Pick the round braided loaf and the soft bread with golden edges and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the square bread with light spots and place in the light wooden breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Place the palm-sized braided golden bread and the square bread with light spots into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots with two arms, place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop it into the light wooden breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop them into the round beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the square bread with light spots, drop in the beige breadbasket.",
+    "Pick the round braided loaf and the square bread with light spots and place them in the beige breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the spongy golden brown bread and place in the round beige breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and put them in the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges with two arms, place in the beige breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Pick the braided top round bread and the soft bread with golden edges and place them in the round beige breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the square bread with light spots and place in the round beige breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and put them in the light wooden breadbasket.",
+    "Place the braided top round bread and the spongy golden brown bread into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the square bread with light spots, then place them in the round beige breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges with two arms, place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the braided top round bread and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Pick the round braided loaf and the square bread with light spots and place them in the beige breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the spongy golden brown bread and place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and put them in the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the spongy golden brown bread into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the braided top round bread and the spongy golden brown bread, then place them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots with two arms, place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop them into the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Pick the round braided loaf and the soft bread with golden edges and place them in the beige breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the soft bread with golden edges and place in the round beige breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and put them in the round beige breadbasket.",
+    "Place the round braided loaf and the square bread with light spots into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the soft bread with golden edges, then place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread with two arms, place in the beige breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and drop it into the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop them into the beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the spongy golden brown bread and place them in the round beige breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the spongy golden brown bread and place in the round beige breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and put them in the round beige breadbasket.",
+    "Place the round braided loaf and the square bread with light spots into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick up the round braided loaf and the square bread with light spots, then place them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread with two arms, place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop it into the light wooden breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop them into the beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the spongy golden brown bread, drop in the beige breadbasket.",
+    "Pick the round braided loaf and the square bread with light spots and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the spongy golden brown bread and place in the round beige breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and put them in the beige breadbasket.",
+    "Place the round braided loaf and the soft bread with golden edges into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the braided top round bread and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges with two arms, place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop it into the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop them into the beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the spongy golden brown bread, drop in the beige breadbasket.",
+    "Pick the braided top round bread and the soft bread with golden edges and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the square bread with light spots and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and put them in the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread with two arms, place in the beige breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop it into the round beige breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Pick the braided top round bread and the square bread with light spots and place them in the beige breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the soft bread with golden edges and place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and put them in the light wooden breadbasket.",
+    "Place the round braided loaf and the soft bread with golden edges into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread with two arms, place in the light wooden breadbasket.",
+    "Grab the braided top round bread and the spongy golden brown bread and drop it into the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop them into the light wooden breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode21.json b/place_bread_basket/demo_randomized/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..55fea54536deeb0c0b74a852243e47c34bdaae7f
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the soft golden bread and the round bread with crusty texture to the medium-sized rectangular breadbasket",
+    "Take the soft doughy bread and the golden brown bread with braided design, place them inside the medium-sized rectangular breadbasket.",
+    "Use the dual arm to place the golden bread loaf with soft inside and the golden brown bread with braided design into the breadbasket with smooth woven texture.",
+    "Take the smooth crusty small bread and the golden brown bread together and place them into the light brown wicker breadbasket.",
+    "Simultaneously grab the small bread and the small bread using the dual arm, then drop them in the medium-sized rectangular breadbasket.",
+    "Grab the golden brown bread and the small golden baked bread quickly and drop them into the brown breadbasket.",
+    "Lift the small golden baked bread and the golden brown bread with braided design with two arms, put in the breadbasket with wicker weave pattern.",
+    "Simultaneously grab the soft golden bread and the small bread, drop in the breadbasket with smooth woven texture.",
+    "Shift the small golden baked bread and the round bread with crusty texture into the breadbasket with rounded edges",
+    "Place the round bread with crusty texture and the soft golden bread in the breadbasket with wicker weave pattern using the dual arm",
+    "Grab both the small golden baked bread and the round bread with braided top, drop into the brown breadbasket.",
+    "Take the braided bread loaf and the small bread then place in the medium-sized rectangular breadbasket.",
+    "Put the bread with golden crust and the round bread with crusty texture into the woven rectangular breadbasket using two arms.",
+    "Pick up both the golden brown bread with braided design and the golden bread loaf with soft inside, then place them in the woven rectangular breadbasket.",
+    "Take the golden brown bread and the golden bread loaf with soft inside to the breadbasket with smooth woven texture",
+    "Move the small bread and the soft doughy bread at once into the medium woven breadbasket.",
+    "Grab both the small golden baked bread and the bread with golden crust with the dual arm and place in the medium woven breadbasket.",
+    "Simultaneously use the dual arm to drop the smooth crusty small bread and the soft golden bread in the brown breadbasket.",
+    "Shift the golden brown bread with braided design and the braided bread loaf together to the breadbasket with smooth woven texture.",
+    "Use both arms to move the soft doughy bread, the round bread with braided top to the medium woven breadbasket.",
+    "Use two arms and set the golden brown bread, the golden brown bread with braided design in the brown breadbasket.",
+    "Pick the bread with golden crust and the golden brown bread and set them in the breadbasket with smooth woven texture.",
+    "Pick the braided bread loaf and the soft golden bread, place them in the light brown basket for bread.",
+    "Grab two breads the round bread with braided top and the soft golden bread and place in the brown breadbasket.",
+    "Pick the round bread with braided top and the golden brown bread with braided design for the the brown breadbasket",
+    "Lift the round bread with braided top and the soft golden bread at once with the dual arm, then set them in the breadbasket with smooth woven texture.",
+    "Move the bread with golden crust and the small bread to the brown breadbasket with rounded corners",
+    "Take the golden brown bread with braided design and the braided bread loaf, place them inside the light brown basket for bread.",
+    "Use the dual arm to place the golden bread loaf with soft inside and the bread with golden crust into the breadbasket with rounded edges.",
+    "Take the bread with golden crust and the round bread with braided top together and place them into the breadbasket with rounded edges.",
+    "Simultaneously grab the golden brown bread and the golden brown bread using the dual arm, then drop them in the light brown wicker breadbasket.",
+    "Grab the golden bread loaf with soft inside and the golden brown bread with braided design quickly and drop them into the brown breadbasket.",
+    "Lift the small golden baked bread and the soft golden bread with two arms, put in the brown breadbasket.",
+    "Simultaneously grab the small golden baked bread and the soft doughy bread, drop in the brown breadbasket.",
+    "Shift the soft golden bread and the small bread into the breadbasket with rounded edges",
+    "Place the soft golden bread and the braided bread loaf in the light brown wicker breadbasket using the dual arm",
+    "Grab both the round bread with crusty texture and the golden bread loaf with soft inside, drop into the smooth textured brown breadbasket.",
+    "Take the golden bread loaf with soft inside and the braided bread loaf then place in the light brown basket for bread.",
+    "Put the small golden baked bread and the round bread with braided top into the woven rectangular breadbasket using two arms.",
+    "Pick up both the small golden baked bread and the round bread with braided top, then place them in the breadbasket with rounded edges.",
+    "Take the soft doughy bread and the braided bread loaf to the breadbasket with wicker weave pattern",
+    "Move the small bread and the bread with golden crust at once into the medium woven breadbasket.",
+    "Grab both the round bread with braided top and the small golden baked bread with the dual arm and place in the medium woven breadbasket.",
+    "Simultaneously use the dual arm to drop the golden brown bread and the small golden baked bread in the breadbasket with smooth woven texture.",
+    "Shift the small bread and the golden brown bread together to the medium-sized rectangular breadbasket.",
+    "Use both arms to move the small bread, the round bread with crusty texture to the light brown wicker breadbasket.",
+    "Use two arms and set the golden bread loaf with soft inside, the golden brown bread in the medium-sized rectangular breadbasket.",
+    "Pick the small golden baked bread and the golden bread loaf with soft inside and set them in the breadbasket with smooth woven texture.",
+    "Pick the soft doughy bread and the soft golden bread, place them in the woven rectangular breadbasket.",
+    "Grab two breads the golden brown bread and the braided bread loaf and place in the light brown basket for bread.",
+    "Pick the round bread with crusty texture and the smooth crusty small bread for the the light brown basket for bread",
+    "Lift the golden brown bread with braided design and the round bread with braided top at once with the dual arm, then set them in the brown breadbasket with rounded corners.",
+    "Move the round bread with braided top and the small bread to the light brown wicker breadbasket",
+    "Take the braided bread loaf and the round bread with braided top, place them inside the breadbasket for holding bread.",
+    "Use the dual arm to place the smooth crusty small bread and the smooth crusty small bread into the light brown wicker breadbasket.",
+    "Take the soft doughy bread and the soft golden bread together and place them into the medium woven breadbasket.",
+    "Simultaneously grab the golden brown bread and the smooth crusty small bread using the dual arm, then drop them in the breadbasket for holding bread.",
+    "Grab the golden brown bread and the round bread with crusty texture quickly and drop them into the breadbasket with wicker weave pattern.",
+    "Lift the small golden baked bread and the golden bread loaf with soft inside with two arms, put in the breadbasket with wicker weave pattern.",
+    "Simultaneously grab the golden brown bread with braided design and the soft golden bread, drop in the breadbasket with smooth woven texture.",
+    "Shift the soft golden bread and the golden bread loaf with soft inside into the brown breadbasket with rounded corners",
+    "Place the bread with golden crust and the round bread with crusty texture in the breadbasket with wicker weave pattern using the dual arm",
+    "Grab both the round bread with crusty texture and the soft golden bread, drop into the breadbasket for holding bread.",
+    "Take the smooth crusty small bread and the soft doughy bread then place in the light brown wicker breadbasket.",
+    "Put the soft doughy bread and the braided bread loaf into the woven rectangular breadbasket using two arms.",
+    "Pick up both the bread with golden crust and the small bread, then place them in the smooth textured brown breadbasket.",
+    "Take the round bread with braided top and the small golden baked bread to the breadbasket with wicker weave pattern",
+    "Move the golden bread loaf with soft inside and the smooth crusty small bread at once into the brown breadbasket with rounded corners.",
+    "Grab both the golden brown bread and the braided bread loaf with the dual arm and place in the woven rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the soft golden bread and the round bread with braided top in the smooth textured brown breadbasket.",
+    "Shift the golden brown bread with braided design and the smooth crusty small bread together to the brown breadbasket.",
+    "Use both arms to move the golden bread loaf with soft inside, the round bread with crusty texture to the woven rectangular breadbasket.",
+    "Use two arms and set the golden bread loaf with soft inside, the small golden baked bread in the breadbasket with wicker weave pattern.",
+    "Pick the soft doughy bread and the soft doughy bread and set them in the smooth textured brown breadbasket.",
+    "Pick the golden brown bread and the braided bread loaf, place them in the breadbasket with smooth woven texture.",
+    "Grab two breads the soft golden bread and the golden brown bread and place in the breadbasket for holding bread.",
+    "Pick the small golden baked bread and the golden brown bread for the the medium woven breadbasket",
+    "Lift the soft doughy bread and the bread with golden crust at once with the dual arm, then set them in the smooth textured brown breadbasket.",
+    "Move the soft doughy bread and the soft golden bread to the medium woven breadbasket",
+    "Take the soft doughy bread and the golden brown bread, place them inside the brown breadbasket.",
+    "Use the dual arm to place the golden brown bread and the golden brown bread with braided design into the breadbasket for holding bread.",
+    "Take the golden brown bread with braided design and the soft golden bread together and place them into the breadbasket with wicker weave pattern.",
+    "Simultaneously grab the round bread with braided top and the small bread using the dual arm, then drop them in the medium-sized rectangular breadbasket.",
+    "Grab the soft doughy bread and the soft doughy bread quickly and drop them into the medium-sized rectangular breadbasket.",
+    "Lift the golden brown bread with braided design and the round bread with braided top with two arms, put in the breadbasket with smooth woven texture.",
+    "Simultaneously grab the golden brown bread with braided design and the small golden baked bread, drop in the brown breadbasket with rounded corners.",
+    "Shift the golden bread loaf with soft inside and the golden bread loaf with soft inside into the breadbasket with wicker weave pattern",
+    "Place the soft golden bread and the soft golden bread in the woven rectangular breadbasket using the dual arm",
+    "Grab both the small golden baked bread and the round bread with crusty texture, drop into the brown breadbasket with rounded corners.",
+    "Take the golden brown bread with braided design and the soft doughy bread then place in the brown breadbasket with rounded corners.",
+    "Put the round bread with crusty texture and the soft golden bread into the breadbasket with smooth woven texture using two arms.",
+    "Pick up both the braided bread loaf and the golden bread loaf with soft inside, then place them in the light brown basket for bread.",
+    "Take the golden brown bread and the smooth crusty small bread to the breadbasket with wicker weave pattern",
+    "Move the bread with golden crust and the golden brown bread at once into the medium-sized rectangular breadbasket.",
+    "Grab both the golden brown bread with braided design and the small golden baked bread with the dual arm and place in the brown breadbasket.",
+    "Simultaneously use the dual arm to drop the small golden baked bread and the golden bread loaf with soft inside in the woven rectangular breadbasket.",
+    "Shift the braided bread loaf and the round bread with braided top together to the medium woven breadbasket.",
+    "Use both arms to move the golden bread loaf with soft inside, the small golden baked bread to the medium woven breadbasket.",
+    "Use two arms and set the small golden baked bread, the golden brown bread in the brown breadbasket.",
+    "Pick the golden brown bread and the golden brown bread with braided design and set them in the light brown wicker breadbasket."
+  ],
+  "unseen": [
+    "Grab the round braided loaf and the braided top round bread and drop them into the medium light brown breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the palm-sized braided golden bread and place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the palm-sized braided golden bread, then place them in the medium light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the braided top round bread, drop in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and put them in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the round braided loaf with two arms, place in the rectangular light brown breadbasket.",
+    "Place the round braided loaf and the palm-sized braided golden bread into the rectangular breadbasket using the dual arm",
+    "Pick the palm-sized braided golden bread and the palm-sized braided golden bread and place them in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the round braided loaf and place in the rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the braided top round bread, then place them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the palm-sized braided golden bread, drop in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and put them in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the braided top round bread with two arms, place in the rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the palm-sized braided golden bread into the medium light brown breadbasket using the dual arm",
+    "Pick the braided top round bread and the braided top round bread and place them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the braided top round bread and drop them into the medium light brown breadbasket.",
+    "Grab the braided top round bread and the round braided loaf and drop it into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the palm-sized braided golden bread and place in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the palm-sized braided golden bread, then place them in the rectangular breadbasket.",
+    "Use one arm to grab the round braided loaf and the braided top round bread, drop in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the round braided loaf and put them in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread with two arms, place in the rectangular light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the round braided loaf into the rectangular light brown breadbasket using the dual arm",
+    "Pick the palm-sized braided golden bread and the round braided loaf and place them in the rectangular breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and drop them into the rectangular breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the braided top round bread and place in the rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the palm-sized braided golden bread, then place them in the rectangular light brown breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the palm-sized braided golden bread, drop in the rectangular breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and put them in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the braided top round bread with two arms, place in the rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the round braided loaf into the medium light brown breadbasket using the dual arm",
+    "Pick the braided top round bread and the palm-sized braided golden bread and place them in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the round braided loaf and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the braided top round bread, then place them in the rectangular breadbasket.",
+    "Use one arm to grab the round braided loaf and the braided top round bread, drop in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf and put them in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread with two arms, place in the medium light brown breadbasket.",
+    "Place the round braided loaf and the round braided loaf into the rectangular breadbasket using the dual arm",
+    "Pick the braided top round bread and the braided top round bread and place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the braided top round bread and place in the rectangular breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the palm-sized braided golden bread, then place them in the rectangular breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the round braided loaf, drop in the rectangular breadbasket.",
+    "Grab the round braided loaf and the round braided loaf and put them in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread with two arms, place in the rectangular light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the braided top round bread into the medium light brown breadbasket using the dual arm",
+    "Pick the braided top round bread and the round braided loaf and place them in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop them into the medium light brown breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the braided top round bread and place in the rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the braided top round bread, then place them in the medium light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the braided top round bread, drop in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and put them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread with two arms, place in the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread and the braided top round bread into the rectangular light brown breadbasket using the dual arm",
+    "Pick the round braided loaf and the palm-sized braided golden bread and place them in the rectangular breadbasket.",
+    "Grab the braided top round bread and the braided top round bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the round braided loaf and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the palm-sized braided golden bread and place in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the round braided loaf, then place them in the rectangular breadbasket.",
+    "Use one arm to grab the braided top round bread and the round braided loaf, drop in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the braided top round bread and put them in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf with two arms, place in the rectangular breadbasket.",
+    "Place the round braided loaf and the round braided loaf into the medium light brown breadbasket using the dual arm",
+    "Pick the palm-sized braided golden bread and the palm-sized braided golden bread and place them in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the round braided loaf and drop them into the medium light brown breadbasket.",
+    "Grab the round braided loaf and the round braided loaf and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the palm-sized braided golden bread and place in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the round braided loaf, then place them in the medium light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the braided top round bread, drop in the medium light brown breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and put them in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf with two arms, place in the rectangular light brown breadbasket.",
+    "Place the round braided loaf and the round braided loaf into the rectangular breadbasket using the dual arm",
+    "Pick the palm-sized braided golden bread and the braided top round bread and place them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the braided top round bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the braided top round bread, then place them in the rectangular breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the round braided loaf, drop in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the palm-sized braided golden bread and put them in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and the palm-sized braided golden bread with two arms, place in the rectangular breadbasket.",
+    "Place the braided top round bread and the palm-sized braided golden bread into the rectangular light brown breadbasket using the dual arm",
+    "Pick the round braided loaf and the round braided loaf and place them in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the palm-sized braided golden bread and drop them into the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the braided top round bread and drop it into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the braided top round bread and the braided top round bread and place in the medium light brown breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the palm-sized braided golden bread, then place them in the medium light brown breadbasket.",
+    "Use one arm to grab the braided top round bread and the round braided loaf, drop in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and the braided top round bread and put them in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and the round braided loaf with two arms, place in the rectangular light brown breadbasket.",
+    "Place the round braided loaf and the round braided loaf into the rectangular light brown breadbasket using the dual arm",
+    "Pick the round braided loaf and the palm-sized braided golden bread and place them in the medium light brown breadbasket.",
+    "Grab the braided top round bread and the round braided loaf and drop them into the rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode22.json b/place_bread_basket/demo_randomized/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ef7dec15bc5045c13034ad23cae718473c65333
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the light brown porous bread for the beige basket for holding bread",
+    "Pick up the rounded square loaf and put it in the basket with light brown weaving.",
+    "Drop the golden baked bread into the two-hand-sized breadbasket",
+    "Grab the golden baked bread, drop it into the light brown breadbasket.",
+    "Grab the fluffy baked bread with the right arm and drop it in the woven plastic breadbasket.",
+    "Move the soft square bread to the oval breadbasket using one arm.",
+    "Put the light brown porous bread into the medium oval breadbasket after grabbing it.",
+    "Lift the bread with soft texture and transfer to the basket with light brown weaving.",
+    "Grab the bread with soft texture for the oval breadbasket with the right arm",
+    "Put the soft square bread into the light brown breadbasket using an arm.",
+    "Lift the fluffy baked bread and set it in the basket with light brown weaving.",
+    "Grab the bread with soft texture with an arm and set in the medium oval breadbasket.",
+    "Pick up the fluffy baked bread and drop it in the synthetic material breadbasket.",
+    "Pick the soft square bread and move it to the oval basket for bread.",
+    "Use the right arm to grab the light brown porous bread and drop it inside the two-hand-sized breadbasket.",
+    "Grab the medium bread with rounded sides with one hand and set it in the oval basket for bread.",
+    "Pick the fluffy baked bread and put it into the two-hand-sized breadbasket.",
+    "Use the right arm to grab the golden brown bread for the woven plastic breadbasket",
+    "Pick up the bread with soft texture and put it in the smooth-textured breadbasket.",
+    "Drop the bread with soft texture into the beige basket for holding bread",
+    "Grab the medium-sized bread piece, drop it into the oval basket for bread.",
+    "Grab the soft square bread with the right arm and drop it in the oval breadbasket.",
+    "Move the medium-sized bread piece to the two-hand-sized breadbasket using one arm.",
+    "Put the golden baked bread into the light brown breadbasket after grabbing it.",
+    "Lift the bread with soft texture and transfer to the breadbasket with curved base.",
+    "Grab the square-shaped bread piece for the woven plastic breadbasket with the right arm",
+    "Put the bread with rounded edges into the woven plastic breadbasket using an arm.",
+    "Lift the golden baked bread and set it in the basket with light brown weaving.",
+    "Grab the medium-sized bread piece with an arm and set in the woven plastic breadbasket.",
+    "Pick up the square-shaped bread piece and drop it in the basket with light brown weaving.",
+    "Pick the golden baked bread and move it to the light brown breadbasket.",
+    "Use the right arm to grab the golden baked bread and drop it inside the smooth-textured breadbasket.",
+    "Grab the light brown porous bread with one hand and set it in the oval breadbasket.",
+    "Pick the sponge-textured golden bread and put it into the breadbasket with curved base.",
+    "Use the right arm to grab the fluffy baked bread for the breadbasket with curved base",
+    "Pick up the golden baked bread and put it in the light brown breadbasket.",
+    "Drop the medium bread with rounded sides into the smooth-textured breadbasket",
+    "Grab the square-shaped bread piece, drop it into the basket with light brown weaving.",
+    "Grab the fluffy baked bread with the right arm and drop it in the smooth-textured breadbasket.",
+    "Move the rounded square loaf to the light brown breadbasket using one arm.",
+    "Put the medium-sized bread piece into the oval basket for bread after grabbing it.",
+    "Lift the medium-sized bread piece and transfer to the beige basket for holding bread.",
+    "Grab the medium bread with rounded sides for the basket with light brown weaving with the right arm",
+    "Put the golden brown bread into the beige basket for holding bread using an arm.",
+    "Lift the sponge-textured golden bread and set it in the woven plastic breadbasket.",
+    "Grab the rounded square loaf with an arm and set in the medium oval breadbasket.",
+    "Pick up the bread with rounded edges and drop it in the two-hand-sized breadbasket.",
+    "Pick the soft square bread and move it to the medium oval breadbasket.",
+    "Use the right arm to grab the square-shaped bread piece and drop it inside the beige basket for holding bread.",
+    "Grab the bread with rounded edges with one hand and set it in the medium oval breadbasket.",
+    "Pick the square-shaped bread piece and put it into the light brown breadbasket.",
+    "Use the right arm to grab the sponge-textured golden bread for the light brown breadbasket",
+    "Pick up the medium bread with rounded sides and put it in the synthetic material breadbasket.",
+    "Drop the soft square bread into the oval breadbasket",
+    "Grab the golden baked bread, drop it into the synthetic material breadbasket.",
+    "Grab the bread with soft texture with the right arm and drop it in the synthetic material breadbasket.",
+    "Move the sponge-textured golden bread to the basket with light brown weaving using one arm.",
+    "Put the golden baked bread into the oval breadbasket after grabbing it.",
+    "Lift the sponge-textured golden bread and transfer to the basket with light brown weaving.",
+    "Grab the medium bread with rounded sides for the basket with light brown weaving with the right arm",
+    "Put the square-shaped bread piece into the woven plastic breadbasket using an arm.",
+    "Lift the medium bread with rounded sides and set it in the oval basket for bread.",
+    "Grab the golden baked bread with an arm and set in the medium oval breadbasket.",
+    "Pick up the rounded square loaf and drop it in the synthetic material breadbasket.",
+    "Pick the rounded square loaf and move it to the medium oval breadbasket.",
+    "Use the right arm to grab the medium-sized bread piece and drop it inside the synthetic material breadbasket.",
+    "Grab the medium bread with rounded sides with one hand and set it in the basket with light brown weaving.",
+    "Pick the rounded square loaf and put it into the oval basket for bread.",
+    "Use the right arm to grab the square-shaped bread piece for the oval breadbasket",
+    "Pick up the golden baked bread and put it in the smooth-textured breadbasket.",
+    "Drop the bread with soft texture into the smooth-textured breadbasket",
+    "Grab the golden baked bread, drop it into the breadbasket with curved base.",
+    "Grab the golden brown bread with the right arm and drop it in the synthetic material breadbasket.",
+    "Move the golden brown bread to the breadbasket for small food items using one arm.",
+    "Put the bread with soft texture into the breadbasket with curved base after grabbing it.",
+    "Lift the golden baked bread and transfer to the two-hand-sized breadbasket.",
+    "Grab the bread with soft texture for the basket with light brown weaving with the right arm",
+    "Put the square-shaped bread piece into the woven plastic breadbasket using an arm.",
+    "Lift the bread with soft texture and set it in the two-hand-sized breadbasket.",
+    "Grab the rounded square loaf with an arm and set in the breadbasket for small food items.",
+    "Pick up the rounded square loaf and drop it in the breadbasket with curved base.",
+    "Pick the bread with rounded edges and move it to the beige basket for holding bread.",
+    "Use the right arm to grab the rounded square loaf and drop it inside the breadbasket for small food items.",
+    "Grab the soft square bread with one hand and set it in the breadbasket for small food items.",
+    "Pick the rounded square loaf and put it into the medium oval breadbasket.",
+    "Use the right arm to grab the bread with rounded edges for the oval basket for bread",
+    "Pick up the soft square bread and put it in the oval breadbasket.",
+    "Drop the medium bread with rounded sides into the basket with light brown weaving",
+    "Grab the golden baked bread, drop it into the basket with light brown weaving.",
+    "Grab the fluffy baked bread with the right arm and drop it in the synthetic material breadbasket.",
+    "Move the bread with rounded edges to the breadbasket for small food items using one arm.",
+    "Put the fluffy baked bread into the oval basket for bread after grabbing it.",
+    "Lift the medium-sized bread piece and transfer to the smooth-textured breadbasket.",
+    "Grab the soft square bread for the woven plastic breadbasket with the right arm",
+    "Put the soft square bread into the breadbasket for small food items using an arm.",
+    "Lift the rounded square loaf and set it in the oval basket for bread.",
+    "Grab the fluffy baked bread with an arm and set in the two-hand-sized breadbasket.",
+    "Pick up the medium bread with rounded sides and drop it in the woven plastic breadbasket.",
+    "Pick the golden baked bread and move it to the medium oval breadbasket.",
+    "Use the right arm to grab the bread with rounded edges and drop it inside the light brown breadbasket."
+  ],
+  "unseen": [
+    "Use the right arm to pick the square bread with light spots and place in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft bread with golden edges, drop in the beige breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the beige breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and put it in the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and place it in the beige breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with ridged texture",
+    "Place the square bread with light spots into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick the square bread with light spots and place in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the square bread with light spots, drop in the beige breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and place it in the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the beige breadbasket",
+    "Place the square bread with light spots into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick the spongy golden brown bread and place in the beige breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Grab the square bread with light spots and put it in the beige breadbasket.",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the breadbasket with ridged texture",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick the square bread with light spots and place in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the beige breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and put it in the beige breadbasket.",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the beige breadbasket",
+    "Place the soft bread with golden edges into the beige breadbasket using the right arm",
+    "Use the right arm to pick the square bread with light spots and place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread with one arm, place in the medium-sized breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Pick the square bread with light spots and place it in the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and drop it in the beige breadbasket",
+    "Place the spongy golden brown bread into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick the square bread with light spots and place in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the medium-sized breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the beige breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Grab the square bread with light spots and put it in the beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the beige breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with ridged texture",
+    "Place the soft bread with golden edges into the beige breadbasket using the right arm",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the spongy golden brown bread and put it in the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with ridged texture",
+    "Place the spongy golden brown bread into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick the soft bread with golden edges and place in the beige breadbasket.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the beige breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and put it in the beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Place the spongy golden brown bread into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and place it in the beige breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with ridged texture",
+    "Place the spongy golden brown bread into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick the spongy golden brown bread and place in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Grab the square bread with light spots with one arm, place in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the beige breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges and put it in the beige breadbasket.",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with ridged texture",
+    "Place the soft bread with golden edges into the beige breadbasket using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode23.json b/place_bread_basket/demo_randomized/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee0038fba56a19e48b387b5a48772cc6a38af927
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the slice-shaped bread and the golden bread quickly and drop them into the beige breadbasket.",
+    "Use two arms and set the golden bread, the golden brown loaf-shaped bread in the basket for bread beige plastic.",
+    "Grab two breads the square loaf of bread and the golden crusted bread slice and place in the smooth textured breadbasket.",
+    "Use both arms to move the rectangular bread soft inside, the bread with rounded corners to the basket for bread beige plastic.",
+    "Simultaneously grab the bread with rounded corners and the brown bread loaf, drop in the medium breadbasket with perforated sides.",
+    "Pick the slice-shaped bread and the bread loaf with square shape for the the medium oval basket for bread",
+    "Pick the golden brown loaf-shaped bread and the bread with firm crust edges, place them in the medium breadbasket with perforated sides.",
+    "Place the bread with golden surface color and the bread with rounded corners in the beige plastic breadbasket using the dual arm",
+    "Grab both the soft golden baked bread and the golden crusted bread slice, drop into the medium breadbasket with perforated sides.",
+    "Lift the bread with firm crust edges and the rectangular bread soft inside at once with the dual arm, then set them in the medium oval basket for bread.",
+    "Take the golden brown loaf-shaped bread and the bread loaf with square shape to the smooth textured breadbasket",
+    "Use the dual arm to place the golden brown loaf-shaped bread and the golden brown loaf-shaped bread into the beige plastic breadbasket.",
+    "Grab both the golden brown loaf-shaped bread and the slice-shaped bread with the dual arm and place in the medium oval basket for bread.",
+    "Simultaneously grab the soft golden baked bread and the slice-shaped bread using the dual arm, then drop them in the basket for carrying bread beige.",
+    "Take the bread with golden surface color and the bread with firm crust edges then place in the oval-shaped breadbasket.",
+    "Take the slice-shaped bread and the rectangular bread soft inside together and place them into the oval-shaped breadbasket.",
+    "Move the slice-shaped bread and the golden bread at once into the smooth textured breadbasket.",
+    "Shift the rectangular bread soft inside and the bread with rounded corners together to the medium breadbasket with perforated sides.",
+    "Pick up both the slice-shaped bread and the golden bread, then place them in the smooth textured breadbasket.",
+    "Lift the bread with golden surface color and the golden crusted bread slice with two arms, put in the white oval breadbasket.",
+    "Move the bread with rounded corners and the square loaf of bread to the white oval breadbasket",
+    "Take the bread with golden surface color and the bread loaf with square shape, place them inside the oval perforated breadbasket white edges.",
+    "Simultaneously use the dual arm to drop the brown bread loaf and the bread loaf with square shape in the medium oval basket for bread.",
+    "Put the soft golden baked bread and the golden crusted bread slice into the basket for bread beige plastic using two arms.",
+    "Pick the golden brown loaf-shaped bread and the golden bread and set them in the medium plastic breadbasket oval shape.",
+    "Shift the slice-shaped bread and the bread loaf with square shape into the white oval breadbasket",
+    "Grab the rectangular bread soft inside and the rectangular bread soft inside quickly and drop them into the basket for carrying bread beige.",
+    "Use two arms and set the bread with rounded corners, the brown bread loaf in the medium oval basket for bread.",
+    "Grab two breads the golden bread and the slice-shaped bread and place in the beige basket with white grid design.",
+    "Use both arms to move the golden bread, the bread with golden surface color to the medium plastic breadbasket oval shape.",
+    "Simultaneously grab the golden bread and the golden bread, drop in the smooth textured breadbasket.",
+    "Pick the square loaf of bread and the soft golden baked bread for the the medium breadbasket with perforated sides",
+    "Pick the rectangular bread soft inside and the golden bread, place them in the smooth textured breadbasket.",
+    "Place the bread loaf with square shape and the bread with firm crust edges in the oval perforated breadbasket white edges using the dual arm",
+    "Grab both the soft golden baked bread and the rectangular bread soft inside, drop into the medium oval basket for bread.",
+    "Lift the bread with golden surface color and the bread with golden surface color at once with the dual arm, then set them in the beige basket with white grid design.",
+    "Take the bread with rounded corners and the soft golden baked bread to the medium plastic breadbasket oval shape",
+    "Use the dual arm to place the golden crusted bread slice and the bread with golden surface color into the smooth textured breadbasket.",
+    "Grab both the slice-shaped bread and the golden bread with the dual arm and place in the medium plastic breadbasket oval shape.",
+    "Simultaneously grab the soft golden baked bread and the rectangular bread soft inside using the dual arm, then drop them in the oval-shaped breadbasket.",
+    "Take the soft golden baked bread and the bread loaf with square shape then place in the basket for carrying bread beige.",
+    "Take the golden crusted bread slice and the square loaf of bread together and place them into the oval-shaped breadbasket.",
+    "Move the square loaf of bread and the rectangular bread soft inside at once into the medium breadbasket with perforated sides.",
+    "Shift the golden brown loaf-shaped bread and the bread with golden surface color together to the oval-shaped breadbasket.",
+    "Pick up both the golden bread and the golden bread, then place them in the oval perforated breadbasket white edges.",
+    "Lift the bread loaf with square shape and the bread with firm crust edges with two arms, put in the smooth textured breadbasket.",
+    "Move the bread with firm crust edges and the soft golden baked bread to the beige plastic breadbasket",
+    "Take the rectangular bread soft inside and the golden crusted bread slice, place them inside the beige breadbasket.",
+    "Simultaneously use the dual arm to drop the golden brown loaf-shaped bread and the bread with firm crust edges in the beige breadbasket.",
+    "Put the slice-shaped bread and the bread with firm crust edges into the beige breadbasket using two arms.",
+    "Pick the brown bread loaf and the soft golden baked bread and set them in the beige basket with white grid design.",
+    "Shift the slice-shaped bread and the soft golden baked bread into the medium oval basket for bread",
+    "Grab the rectangular bread soft inside and the rectangular bread soft inside quickly and drop them into the medium oval basket for bread.",
+    "Use two arms and set the golden crusted bread slice, the rectangular bread soft inside in the beige plastic breadbasket.",
+    "Grab two breads the soft golden baked bread and the golden bread and place in the smooth textured breadbasket.",
+    "Use both arms to move the bread with firm crust edges, the golden brown loaf-shaped bread to the basket for bread beige plastic.",
+    "Simultaneously grab the golden crusted bread slice and the bread loaf with square shape, drop in the beige basket with white grid design.",
+    "Pick the brown bread loaf and the square loaf of bread for the the beige plastic breadbasket",
+    "Pick the bread loaf with square shape and the square loaf of bread, place them in the oval perforated breadbasket white edges.",
+    "Place the golden bread and the golden crusted bread slice in the white oval breadbasket using the dual arm",
+    "Grab both the soft golden baked bread and the slice-shaped bread, drop into the basket for carrying bread beige.",
+    "Lift the golden brown loaf-shaped bread and the bread loaf with square shape at once with the dual arm, then set them in the beige basket with white grid design.",
+    "Take the bread with rounded corners and the bread with golden surface color to the beige plastic breadbasket",
+    "Use the dual arm to place the golden brown loaf-shaped bread and the square loaf of bread into the white oval breadbasket.",
+    "Grab both the golden brown loaf-shaped bread and the golden bread with the dual arm and place in the basket for carrying bread beige.",
+    "Simultaneously grab the bread with rounded corners and the bread with firm crust edges using the dual arm, then drop them in the beige basket with white grid design.",
+    "Take the square loaf of bread and the rectangular bread soft inside then place in the smooth textured breadbasket.",
+    "Take the brown bread loaf and the bread with golden surface color together and place them into the medium oval basket for bread.",
+    "Move the bread with golden surface color and the bread with firm crust edges at once into the beige plastic breadbasket.",
+    "Shift the golden crusted bread slice and the square loaf of bread together to the white oval breadbasket.",
+    "Pick up both the soft golden baked bread and the bread with firm crust edges, then place them in the medium breadbasket with perforated sides.",
+    "Lift the golden bread and the golden bread with two arms, put in the medium plastic breadbasket oval shape.",
+    "Move the bread with golden surface color and the golden crusted bread slice to the oval perforated breadbasket white edges",
+    "Take the bread loaf with square shape and the bread with firm crust edges, place them inside the oval perforated breadbasket white edges.",
+    "Simultaneously use the dual arm to drop the golden bread and the golden bread in the basket for carrying bread beige.",
+    "Put the golden bread and the bread with rounded corners into the beige plastic breadbasket using two arms.",
+    "Pick the bread loaf with square shape and the slice-shaped bread and set them in the medium breadbasket with perforated sides.",
+    "Shift the bread with firm crust edges and the brown bread loaf into the basket for carrying bread beige",
+    "Grab the slice-shaped bread and the golden bread quickly and drop them into the medium breadbasket with perforated sides.",
+    "Use two arms and set the soft golden baked bread, the golden bread in the medium breadbasket with perforated sides.",
+    "Grab two breads the soft golden baked bread and the soft golden baked bread and place in the basket for carrying bread beige.",
+    "Use both arms to move the bread with golden surface color, the soft golden baked bread to the basket for bread beige plastic.",
+    "Simultaneously grab the bread loaf with square shape and the soft golden baked bread, drop in the beige basket with white grid design.",
+    "Pick the brown bread loaf and the bread with rounded corners for the the basket for bread beige plastic",
+    "Pick the bread loaf with square shape and the golden brown loaf-shaped bread, place them in the medium oval basket for bread.",
+    "Place the square loaf of bread and the bread with firm crust edges in the beige breadbasket using the dual arm",
+    "Grab both the brown bread loaf and the bread with golden surface color, drop into the smooth textured breadbasket.",
+    "Lift the bread with firm crust edges and the brown bread loaf at once with the dual arm, then set them in the beige plastic breadbasket.",
+    "Take the bread loaf with square shape and the bread with rounded corners to the basket for bread beige plastic",
+    "Use the dual arm to place the rectangular bread soft inside and the bread with rounded corners into the medium oval basket for bread.",
+    "Grab both the bread with golden surface color and the bread with rounded corners with the dual arm and place in the beige plastic breadbasket.",
+    "Simultaneously grab the slice-shaped bread and the square loaf of bread using the dual arm, then drop them in the oval perforated breadbasket white edges.",
+    "Take the square loaf of bread and the slice-shaped bread then place in the medium breadbasket with perforated sides.",
+    "Take the golden crusted bread slice and the bread loaf with square shape together and place them into the medium breadbasket with perforated sides.",
+    "Move the bread with golden surface color and the bread with rounded corners at once into the beige breadbasket.",
+    "Shift the soft golden baked bread and the bread with rounded corners together to the white oval breadbasket.",
+    "Pick up both the brown bread loaf and the bread with rounded corners, then place them in the beige plastic breadbasket.",
+    "Lift the rectangular bread soft inside and the brown bread loaf with two arms, put in the beige breadbasket.",
+    "Move the rectangular bread soft inside and the bread loaf with square shape to the beige breadbasket",
+    "Take the square loaf of bread and the golden crusted bread slice, place them inside the oval perforated breadbasket white edges."
+  ],
+  "unseen": [
+    "Use the dual arm to pick up the soft rectangular bread loaf and the bread loaf medium-sized, then place them in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the soft rectangular bread loaf and the small loaf-shaped bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread loaf medium-sized, drop in the breadbasket with hollowed white walls.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the small loaf-shaped bread and the small loaf-shaped bread and place them in the breadbasket with hollowed white walls.",
+    "Place the bread loaf medium-sized and the bread loaf medium-sized into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Use the dual arm to pick the small loaf-shaped bread and the soft rectangular bread loaf and place in the white basket with beige bottom.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized with two arms, place in the white basket with beige bottom.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the small loaf-shaped bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf and drop them into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread loaf medium-sized and the bread loaf medium-sized, drop in the white basket with beige bottom.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and put them in the breadbasket with hollowed white walls.",
+    "Pick the bread loaf medium-sized and the small loaf-shaped bread and place them in the breadbasket with hollowed white walls.",
+    "Place the bread loaf medium-sized and the bread loaf medium-sized into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Use the dual arm to pick the soft rectangular bread loaf and the small loaf-shaped bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized with two arms, place in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the bread loaf medium-sized, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft rectangular bread loaf and the soft rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread and put them in the white basket with beige bottom.",
+    "Pick the bread loaf medium-sized and the small loaf-shaped bread and place them in the white basket with beige bottom.",
+    "Place the small loaf-shaped bread and the soft rectangular bread loaf into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick the bread loaf medium-sized and the bread loaf medium-sized and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft rectangular bread loaf and the small loaf-shaped bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the bread loaf medium-sized, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the soft rectangular bread loaf and the small loaf-shaped bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the small loaf-shaped bread and the soft rectangular bread loaf and place them in the white basket with beige bottom.",
+    "Place the bread loaf medium-sized and the soft rectangular bread loaf into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Use the dual arm to pick the soft rectangular bread loaf and the bread loaf medium-sized and place in the white basket with beige bottom.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the bread loaf medium-sized, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf and drop them into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread loaf medium-sized and the soft rectangular bread loaf, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the soft rectangular bread loaf and the bread loaf medium-sized and place them in the white basket with beige bottom.",
+    "Place the soft rectangular bread loaf and the bread loaf medium-sized into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick the bread loaf medium-sized and the bread loaf medium-sized and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the small loaf-shaped bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and drop them into the white basket with beige bottom.",
+    "Use one arm to grab the soft rectangular bread loaf and the small loaf-shaped bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the small loaf-shaped bread and the soft rectangular bread loaf and place them in the breadbasket with hollowed white walls.",
+    "Place the soft rectangular bread loaf and the soft rectangular bread loaf into the white basket with beige bottom using the dual arm",
+    "Use the dual arm to pick the small loaf-shaped bread and the small loaf-shaped bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized with two arms, place in the white basket with beige bottom.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft rectangular bread loaf, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft rectangular bread loaf and the small loaf-shaped bread and drop it into the white basket with beige bottom.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and drop them into the white basket with beige bottom.",
+    "Use one arm to grab the small loaf-shaped bread and the soft rectangular bread loaf, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the soft rectangular bread loaf and the soft rectangular bread loaf and place them in the breadbasket with hollowed white walls.",
+    "Place the soft rectangular bread loaf and the small loaf-shaped bread into the white basket with beige bottom using the dual arm",
+    "Use the dual arm to pick the small loaf-shaped bread and the soft rectangular bread loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread with two arms, place in the white basket with beige bottom.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the small loaf-shaped bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and drop it into the white basket with beige bottom.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf and drop them into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the small loaf-shaped bread and the soft rectangular bread loaf, drop in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the small loaf-shaped bread and the soft rectangular bread loaf and place them in the breadbasket with hollowed white walls.",
+    "Place the small loaf-shaped bread and the bread loaf medium-sized into the white basket with beige bottom using the dual arm",
+    "Use the dual arm to pick the soft rectangular bread loaf and the soft rectangular bread loaf and place in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the bread loaf medium-sized, then place them in the breadbasket with hollowed white walls.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread loaf medium-sized and the bread loaf medium-sized, drop in the white basket with beige bottom.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and put them in the breadbasket with hollowed white walls.",
+    "Pick the soft rectangular bread loaf and the soft rectangular bread loaf and place them in the breadbasket with hollowed white walls.",
+    "Place the bread loaf medium-sized and the bread loaf medium-sized into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick the bread loaf medium-sized and the soft rectangular bread loaf and place in the white basket with beige bottom.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized with two arms, place in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the bread loaf medium-sized, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and drop them into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the small loaf-shaped bread and the soft rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the soft rectangular bread loaf and the soft rectangular bread loaf and place them in the breadbasket with smooth bottom grid sides.",
+    "Place the small loaf-shaped bread and the bread loaf medium-sized into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Use the dual arm to pick the bread loaf medium-sized and the bread loaf medium-sized and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the soft rectangular bread loaf, then place them in the breadbasket with hollowed white walls.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and drop them into the white basket with beige bottom.",
+    "Use one arm to grab the soft rectangular bread loaf and the soft rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the soft rectangular bread loaf and the small loaf-shaped bread and place them in the white basket with beige bottom.",
+    "Place the soft rectangular bread loaf and the bread loaf medium-sized into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick the bread loaf medium-sized and the soft rectangular bread loaf and place in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the small loaf-shaped bread, then place them in the breadbasket with smooth bottom grid sides."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode24.json b/place_bread_basket/demo_randomized/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ce4e9b276481646abd8b3c185a80abb56d0878b
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the smooth loaf with rounded edges and the light brown bread with ridges together and place them into the breadbasket with flat base.",
+    "Put the hand-sized oval loaf and the light brown loaf with smooth sides into the breadbasket shaped like a bowl using two arms.",
+    "Use both arms to move the smooth loaf with rounded edges, the brown loaf to the round breadbasket.",
+    "Simultaneously use the dual arm to drop the small loaf with curved top and the small loaf with curved top in the breadbasket made of woven wood.",
+    "Simultaneously grab the golden bread loaf and the small loaf with curved top, drop in the wooden breadbasket.",
+    "Lift the light brown bread with ridges and the soft brown bread at once with the dual arm, then set them in the smooth beige breadbasket.",
+    "Move the bread with golden-brown crust and the bread with golden-brown crust to the breadbasket with flat base",
+    "Pick up both the brown loaf and the soft brown bread, then place them in the breadbasket for baking.",
+    "Take the soft brown bread and the smooth loaf with rounded edges to the breadbasket for baking",
+    "Shift the small loaf with curved top and the smooth loaf with rounded edges together to the breadbasket with spiral lines.",
+    "Use two arms and set the bread with golden-brown crust, the light brown bread with ridges in the breadbasket for dough.",
+    "Grab the bread with golden-brown crust and the small golden brown bread quickly and drop them into the breadbasket for baking.",
+    "Take the bread with split top and the golden bread loaf, place them inside the breadbasket for dough.",
+    "Grab both the small loaf with curved top and the bread with warm golden color, drop into the palm-sized breadbasket.",
+    "Grab two breads the light brown loaf with smooth sides and the bread with warm golden color and place in the spiral ridged breadbasket.",
+    "Shift the light brown loaf with smooth sides and the hand-sized oval loaf into the breadbasket with flat base",
+    "Grab both the hand-sized oval loaf and the brown loaf with the dual arm and place in the breadbasket with spiral lines.",
+    "Use the dual arm to place the smooth loaf with rounded edges and the small loaf with curved top into the wooden breadbasket.",
+    "Pick the soft brown bread and the bread with warm golden color for the the breadbasket for dough",
+    "Simultaneously grab the brown loaf and the golden bread loaf using the dual arm, then drop them in the breadbasket for dough.",
+    "Move the light brown bread with ridges and the light brown loaf with smooth sides at once into the palm-sized breadbasket.",
+    "Take the small golden brown bread and the bread with golden-brown crust then place in the palm-sized breadbasket.",
+    "Pick the hand-sized oval loaf and the light brown loaf with smooth sides and set them in the spiral ridged breadbasket.",
+    "Lift the smooth loaf with rounded edges and the small golden brown bread with two arms, put in the palm-sized breadbasket.",
+    "Place the small loaf with curved top and the hand-sized oval loaf in the breadbasket with flat base using the dual arm",
+    "Pick the soft brown bread and the bread with golden-brown crust, place them in the palm-sized breadbasket.",
+    "Take the brown loaf and the hand-sized oval loaf together and place them into the breadbasket with spiral lines.",
+    "Put the golden bread loaf and the bread with golden-brown crust into the medium breadbasket using two arms.",
+    "Use both arms to move the small golden brown bread, the bread with warm golden color to the spiral ridged breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with warm golden color and the bread with split top in the palm-sized breadbasket.",
+    "Simultaneously grab the small loaf with curved top and the light brown loaf with smooth sides, drop in the breadbasket shaped like a bowl.",
+    "Lift the hand-sized oval loaf and the smooth loaf with rounded edges at once with the dual arm, then set them in the breadbasket with spiral lines.",
+    "Move the bread with golden-brown crust and the hand-sized oval loaf to the breadbasket shaped like a bowl",
+    "Pick up both the bread with golden-brown crust and the small loaf with curved top, then place them in the breadbasket made of woven wood.",
+    "Take the bread with split top and the bread with golden-brown crust to the spiral ridged breadbasket",
+    "Shift the light brown bread with ridges and the light brown bread with ridges together to the breadbasket for dough.",
+    "Use two arms and set the light brown loaf with smooth sides, the brown loaf in the breadbasket with flat base.",
+    "Grab the small loaf with curved top and the bread with golden-brown crust quickly and drop them into the breadbasket with spiral lines.",
+    "Take the small golden brown bread and the smooth loaf with rounded edges, place them inside the wooden breadbasket.",
+    "Grab both the bread with warm golden color and the bread with split top, drop into the breadbasket with flat base.",
+    "Grab two breads the soft brown bread and the light brown bread with ridges and place in the breadbasket for dough.",
+    "Shift the hand-sized oval loaf and the bread with warm golden color into the wooden breadbasket",
+    "Grab both the bread with split top and the smooth loaf with rounded edges with the dual arm and place in the smooth beige breadbasket.",
+    "Use the dual arm to place the brown loaf and the bread with split top into the smooth beige breadbasket.",
+    "Pick the bread with warm golden color and the small golden brown bread for the the smooth beige breadbasket",
+    "Simultaneously grab the soft brown bread and the golden bread loaf using the dual arm, then drop them in the breadbasket with flat base.",
+    "Move the smooth loaf with rounded edges and the smooth loaf with rounded edges at once into the breadbasket with flat base.",
+    "Take the bread with split top and the small loaf with curved top then place in the breadbasket for dough.",
+    "Pick the light brown bread with ridges and the bread with golden-brown crust and set them in the smooth beige breadbasket.",
+    "Lift the soft brown bread and the bread with warm golden color with two arms, put in the medium breadbasket.",
+    "Place the smooth loaf with rounded edges and the smooth loaf with rounded edges in the breadbasket with spiral lines using the dual arm",
+    "Pick the golden bread loaf and the light brown bread with ridges, place them in the breadbasket shaped like a bowl.",
+    "Take the small loaf with curved top and the light brown loaf with smooth sides together and place them into the smooth beige breadbasket.",
+    "Put the small golden brown bread and the hand-sized oval loaf into the breadbasket for baking using two arms.",
+    "Use both arms to move the smooth loaf with rounded edges, the bread with split top to the spiral ridged breadbasket.",
+    "Simultaneously use the dual arm to drop the small golden brown bread and the golden bread loaf in the palm-sized breadbasket.",
+    "Simultaneously grab the bread with split top and the small loaf with curved top, drop in the breadbasket shaped like a bowl.",
+    "Lift the smooth loaf with rounded edges and the light brown loaf with smooth sides at once with the dual arm, then set them in the smooth beige breadbasket.",
+    "Move the small loaf with curved top and the bread with warm golden color to the spiral ridged breadbasket",
+    "Pick up both the golden bread loaf and the brown loaf, then place them in the breadbasket for baking.",
+    "Take the small loaf with curved top and the small loaf with curved top to the spiral ridged breadbasket",
+    "Shift the light brown bread with ridges and the soft brown bread together to the breadbasket with flat base.",
+    "Use two arms and set the brown loaf, the soft brown bread in the breadbasket made of woven wood.",
+    "Grab the light brown loaf with smooth sides and the bread with golden-brown crust quickly and drop them into the round breadbasket.",
+    "Take the light brown loaf with smooth sides and the soft brown bread, place them inside the medium breadbasket.",
+    "Grab both the light brown bread with ridges and the bread with warm golden color, drop into the medium breadbasket.",
+    "Grab two breads the bread with split top and the small golden brown bread and place in the spiral ridged breadbasket.",
+    "Shift the soft brown bread and the small loaf with curved top into the medium breadbasket",
+    "Grab both the bread with golden-brown crust and the small loaf with curved top with the dual arm and place in the breadbasket with flat base.",
+    "Use the dual arm to place the brown loaf and the golden bread loaf into the breadbasket made of woven wood.",
+    "Pick the light brown bread with ridges and the bread with warm golden color for the the breadbasket with spiral lines",
+    "Simultaneously grab the soft brown bread and the smooth loaf with rounded edges using the dual arm, then drop them in the palm-sized breadbasket.",
+    "Move the small golden brown bread and the hand-sized oval loaf at once into the breadbasket for baking.",
+    "Take the soft brown bread and the small golden brown bread then place in the breadbasket with flat base.",
+    "Pick the brown loaf and the bread with split top and set them in the breadbasket for baking.",
+    "Lift the smooth loaf with rounded edges and the hand-sized oval loaf with two arms, put in the breadbasket for dough.",
+    "Place the hand-sized oval loaf and the bread with golden-brown crust in the breadbasket for dough using the dual arm",
+    "Pick the brown loaf and the brown loaf, place them in the wooden breadbasket.",
+    "Take the light brown bread with ridges and the small loaf with curved top together and place them into the spiral ridged breadbasket.",
+    "Put the small loaf with curved top and the small golden brown bread into the smooth beige breadbasket using two arms.",
+    "Use both arms to move the brown loaf, the brown loaf to the wooden breadbasket.",
+    "Simultaneously use the dual arm to drop the smooth loaf with rounded edges and the small loaf with curved top in the breadbasket for baking.",
+    "Simultaneously grab the bread with split top and the golden bread loaf, drop in the breadbasket for dough.",
+    "Lift the small golden brown bread and the light brown loaf with smooth sides at once with the dual arm, then set them in the breadbasket made of woven wood.",
+    "Move the light brown bread with ridges and the small golden brown bread to the breadbasket shaped like a bowl",
+    "Pick up both the bread with warm golden color and the golden bread loaf, then place them in the breadbasket with flat base.",
+    "Take the smooth loaf with rounded edges and the soft brown bread to the smooth beige breadbasket",
+    "Shift the golden bread loaf and the smooth loaf with rounded edges together to the breadbasket made of woven wood.",
+    "Use two arms and set the brown loaf, the light brown bread with ridges in the medium breadbasket.",
+    "Grab the smooth loaf with rounded edges and the small golden brown bread quickly and drop them into the smooth beige breadbasket.",
+    "Take the small loaf with curved top and the brown loaf, place them inside the round breadbasket.",
+    "Grab both the bread with golden-brown crust and the bread with split top, drop into the breadbasket with spiral lines.",
+    "Grab two breads the bread with split top and the brown loaf and place in the round breadbasket.",
+    "Shift the hand-sized oval loaf and the bread with golden-brown crust into the palm-sized breadbasket",
+    "Grab both the bread with golden-brown crust and the small golden brown bread with the dual arm and place in the breadbasket for dough.",
+    "Use the dual arm to place the golden bread loaf and the small loaf with curved top into the breadbasket for baking.",
+    "Pick the brown loaf and the bread with split top for the the spiral ridged breadbasket",
+    "Simultaneously grab the bread with warm golden color and the bread with golden-brown crust using the dual arm, then drop them in the palm-sized breadbasket.",
+    "Move the bread with golden-brown crust and the small loaf with curved top at once into the breadbasket with spiral lines.",
+    "Take the bread with golden-brown crust and the brown loaf then place in the wooden breadbasket."
+  ],
+  "unseen": [
+    "Use the dual arm to pick up the rounded oval bread and the oval bread, then place them in the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and drop them into the light wooden breadbasket.",
+    "Pick the oval bread and the rounded oval bread and place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the oval bread and drop it into the light wooden breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Place the oval bread and the oval bread into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval-shaped soft bread and put them in the light wooden breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Use one arm to grab the oval bread and the oval-shaped soft bread, drop in the light wooden breadbasket.",
+    "Use the dual arm to pick up the oval bread and the oval-shaped soft bread, then place them in the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and drop them into the light wooden breadbasket.",
+    "Pick the oval-shaped soft bread and the rounded oval bread and place them in the beige breadbasket.",
+    "Grab the oval bread and the oval bread and drop it into the light wooden breadbasket.",
+    "Grab the oval bread and the oval bread with two arms, place in the beige breadbasket.",
+    "Place the oval-shaped soft bread and the oval bread into the round beige breadbasket using the dual arm",
+    "Grab the oval bread and the oval bread and put them in the round beige breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval-shaped soft bread and place in the round beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the oval bread and the oval bread, then place them in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and drop them into the round beige breadbasket.",
+    "Pick the rounded oval bread and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and drop it into the light wooden breadbasket.",
+    "Grab the oval bread and the oval bread with two arms, place in the beige breadbasket.",
+    "Place the oval bread and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval bread and put them in the light wooden breadbasket.",
+    "Use the dual arm to pick the oval bread and the rounded oval bread and place in the light wooden breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the oval bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval-shaped soft bread, then place them in the round beige breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and drop them into the beige breadbasket.",
+    "Pick the oval bread and the rounded oval bread and place them in the round beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop it into the beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Place the oval-shaped soft bread and the oval-shaped soft bread into the round beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval-shaped soft bread and put them in the round beige breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the oval-shaped soft bread and place in the round beige breadbasket.",
+    "Use one arm to grab the oval bread and the oval bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the rounded oval bread, then place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Pick the oval bread and the oval-shaped soft bread and place them in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and drop it into the round beige breadbasket.",
+    "Grab the rounded oval bread and the oval bread with two arms, place in the round beige breadbasket.",
+    "Place the rounded oval bread and the rounded oval bread into the round beige breadbasket using the dual arm",
+    "Grab the oval bread and the rounded oval bread and put them in the light wooden breadbasket.",
+    "Use the dual arm to pick the oval bread and the rounded oval bread and place in the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval bread, then place them in the round beige breadbasket.",
+    "Grab the rounded oval bread and the oval bread and drop them into the round beige breadbasket.",
+    "Pick the oval-shaped soft bread and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and drop it into the beige breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread with two arms, place in the light wooden breadbasket.",
+    "Place the oval-shaped soft bread and the oval-shaped soft bread into the round beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval-shaped soft bread and put them in the light wooden breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval bread and place in the round beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the rounded oval bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop them into the beige breadbasket.",
+    "Pick the rounded oval bread and the oval bread and place them in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop it into the light wooden breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Place the oval bread and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the oval bread and place in the round beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the rounded oval bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Pick the oval bread and the oval bread and place them in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and drop it into the round beige breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread with two arms, place in the round beige breadbasket.",
+    "Place the oval-shaped soft bread and the oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the rounded oval bread and put them in the light wooden breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the oval bread and the rounded oval bread, then place them in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop them into the light wooden breadbasket.",
+    "Pick the oval-shaped soft bread and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and drop it into the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread with two arms, place in the light wooden breadbasket.",
+    "Place the oval bread and the oval-shaped soft bread into the round beige breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the oval bread and place in the round beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Pick the rounded oval bread and the rounded oval bread and place them in the round beige breadbasket.",
+    "Grab the rounded oval bread and the oval bread and drop it into the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread with two arms, place in the beige breadbasket.",
+    "Place the rounded oval bread and the oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the rounded oval bread and the rounded oval bread and put them in the round beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the oval bread and place in the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval-shaped soft bread, drop in the light wooden breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and drop them into the light wooden breadbasket.",
+    "Pick the oval bread and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and drop it into the light wooden breadbasket.",
+    "Grab the oval bread and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Place the oval-shaped soft bread and the rounded oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the rounded oval bread and the rounded oval bread and put them in the light wooden breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the oval bread, then place them in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode25.json b/place_bread_basket/demo_randomized/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..039ac7571cb0521b3b16e16f27c909b38f8d0d3c
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the rectangular bread soft inside into the textured beige breadbasket using an arm.",
+    "Put the bread with rounded corners into the plastic breadbasket with mesh sides after grabbing it.",
+    "Drop the bread with rounded corners into the woven light beige breadbasket",
+    "Grab the bread with golden surface color, drop it into the beige breadbasket for holding bread.",
+    "Grab the golden brown loaf-shaped bread with an arm and set in the light beige rectangular breadbasket.",
+    "Pick up the brown bread loaf and put it in the rectangular breadbasket.",
+    "Lift the bread with golden surface color and transfer to the breadbasket for bread storage.",
+    "Use the right arm to grab the bread with rounded corners for the beige breadbasket for holding bread",
+    "Pick the square loaf of bread and move it to the textured beige breadbasket.",
+    "Pick the golden bread and put it into the beige breadbasket for holding bread.",
+    "Lift the soft golden baked bread and set it in the medium rectangular breadbasket.",
+    "Grab the rectangular bread soft inside with one hand and set it in the light and textured breadbasket.",
+    "Grab the rectangular bread soft inside with the right arm and drop it in the woven light beige breadbasket.",
+    "Grab the brown bread loaf for the beige breadbasket for holding bread with the right arm",
+    "Pick up the golden brown loaf-shaped bread and drop it in the light and textured breadbasket.",
+    "Use the right arm to grab the bread with golden surface color and drop it inside the plastic breadbasket with mesh sides.",
+    "Move the slice-shaped bread to the plastic breadbasket with mesh sides using one arm.",
+    "Put the rectangular bread soft inside into the light beige rectangular breadbasket using an arm.",
+    "Put the brown bread loaf into the beige breadbasket after grabbing it.",
+    "Drop the soft golden baked bread into the plastic mesh breadbasket",
+    "Grab the rectangular bread soft inside, drop it into the woven light beige breadbasket.",
+    "Grab the brown bread loaf with an arm and set in the breadbasket with textured sides.",
+    "Pick up the bread with rounded corners and put it in the beige breadbasket for holding bread.",
+    "Lift the rectangular bread soft inside and transfer to the beige breadbasket.",
+    "Use the right arm to grab the golden bread for the medium rectangular breadbasket",
+    "Pick the brown bread loaf and move it to the rectangular breadbasket.",
+    "Pick the soft golden baked bread and put it into the light beige rectangular breadbasket.",
+    "Lift the brown bread loaf and set it in the breadbasket for bread storage.",
+    "Grab the golden brown loaf-shaped bread with one hand and set it in the light and textured breadbasket.",
+    "Grab the bread loaf with square shape with the right arm and drop it in the breadbasket with textured sides.",
+    "Grab the golden brown loaf-shaped bread for the breadbasket for bread storage with the right arm",
+    "Pick up the rectangular bread soft inside and drop it in the medium rectangular breadbasket.",
+    "Use the right arm to grab the golden brown loaf-shaped bread and drop it inside the beige breadbasket for holding bread.",
+    "Move the golden crusted bread slice to the breadbasket for bread storage using one arm.",
+    "Put the soft golden baked bread into the plastic breadbasket with mesh sides using an arm.",
+    "Put the golden crusted bread slice into the woven light beige breadbasket after grabbing it.",
+    "Drop the brown bread loaf into the beige breadbasket for holding bread",
+    "Grab the brown bread loaf, drop it into the medium rectangular breadbasket.",
+    "Grab the bread with rounded corners with an arm and set in the plastic mesh breadbasket.",
+    "Pick up the bread loaf with square shape and put it in the beige breadbasket.",
+    "Lift the soft golden baked bread and transfer to the light and textured breadbasket.",
+    "Use the right arm to grab the square loaf of bread for the breadbasket for bread storage",
+    "Pick the bread with golden surface color and move it to the light and textured breadbasket.",
+    "Pick the soft golden baked bread and put it into the plastic mesh breadbasket.",
+    "Lift the golden brown loaf-shaped bread and set it in the rectangular breadbasket.",
+    "Grab the square loaf of bread with one hand and set it in the beige breadbasket for holding bread.",
+    "Grab the bread with rounded corners with the right arm and drop it in the medium rectangular breadbasket.",
+    "Grab the slice-shaped bread for the medium rectangular breadbasket with the right arm",
+    "Pick up the bread with firm crust edges and drop it in the plastic mesh breadbasket.",
+    "Use the right arm to grab the bread with rounded corners and drop it inside the rectangular breadbasket.",
+    "Move the slice-shaped bread to the plastic mesh breadbasket using one arm.",
+    "Put the golden brown loaf-shaped bread into the light and textured breadbasket using an arm.",
+    "Put the brown bread loaf into the beige breadbasket after grabbing it.",
+    "Drop the bread with firm crust edges into the light and textured breadbasket",
+    "Grab the golden brown loaf-shaped bread, drop it into the breadbasket for bread storage.",
+    "Grab the golden bread with an arm and set in the light and textured breadbasket.",
+    "Pick up the golden brown loaf-shaped bread and put it in the plastic mesh breadbasket.",
+    "Lift the rectangular bread soft inside and transfer to the breadbasket for bread storage.",
+    "Use the right arm to grab the slice-shaped bread for the breadbasket for bread storage",
+    "Pick the rectangular bread soft inside and move it to the breadbasket for bread storage.",
+    "Pick the bread with rounded corners and put it into the light beige rectangular breadbasket.",
+    "Lift the bread with rounded corners and set it in the woven light beige breadbasket.",
+    "Grab the slice-shaped bread with one hand and set it in the light beige rectangular breadbasket.",
+    "Grab the bread loaf with square shape with the right arm and drop it in the breadbasket with textured sides.",
+    "Grab the golden brown loaf-shaped bread for the plastic breadbasket with mesh sides with the right arm",
+    "Pick up the square loaf of bread and drop it in the plastic mesh breadbasket.",
+    "Use the right arm to grab the bread with firm crust edges and drop it inside the light and textured breadbasket.",
+    "Move the bread with golden surface color to the textured beige breadbasket using one arm.",
+    "Put the bread with rounded corners into the plastic mesh breadbasket using an arm.",
+    "Put the golden bread into the light and textured breadbasket after grabbing it.",
+    "Drop the golden brown loaf-shaped bread into the beige breadbasket for holding bread",
+    "Grab the golden crusted bread slice, drop it into the plastic breadbasket with mesh sides.",
+    "Grab the golden bread with an arm and set in the beige breadbasket for holding bread.",
+    "Pick up the bread with firm crust edges and put it in the plastic mesh breadbasket.",
+    "Lift the bread with firm crust edges and transfer to the textured beige breadbasket.",
+    "Use the right arm to grab the bread with firm crust edges for the breadbasket for bread storage",
+    "Pick the bread with golden surface color and move it to the breadbasket for bread storage.",
+    "Pick the bread with golden surface color and put it into the medium rectangular breadbasket.",
+    "Lift the golden crusted bread slice and set it in the breadbasket with textured sides.",
+    "Grab the rectangular bread soft inside with one hand and set it in the breadbasket with textured sides.",
+    "Grab the soft golden baked bread with the right arm and drop it in the medium rectangular breadbasket.",
+    "Grab the golden brown loaf-shaped bread for the medium rectangular breadbasket with the right arm",
+    "Pick up the bread with firm crust edges and drop it in the woven light beige breadbasket.",
+    "Use the right arm to grab the square loaf of bread and drop it inside the textured beige breadbasket.",
+    "Move the square loaf of bread to the light beige rectangular breadbasket using one arm.",
+    "Put the golden bread into the rectangular breadbasket using an arm.",
+    "Put the golden bread into the beige breadbasket after grabbing it.",
+    "Drop the golden brown loaf-shaped bread into the beige breadbasket",
+    "Grab the golden brown loaf-shaped bread, drop it into the plastic breadbasket with mesh sides.",
+    "Grab the bread loaf with square shape with an arm and set in the breadbasket with textured sides.",
+    "Pick up the bread with rounded corners and put it in the light beige rectangular breadbasket.",
+    "Lift the golden crusted bread slice and transfer to the medium rectangular breadbasket.",
+    "Use the right arm to grab the soft golden baked bread for the light and textured breadbasket",
+    "Pick the golden bread and move it to the light and textured breadbasket.",
+    "Pick the bread loaf with square shape and put it into the beige breadbasket for holding bread.",
+    "Lift the bread loaf with square shape and set it in the plastic mesh breadbasket.",
+    "Grab the bread loaf with square shape with one hand and set it in the woven light beige breadbasket.",
+    "Grab the slice-shaped bread with the right arm and drop it in the medium rectangular breadbasket.",
+    "Grab the golden brown loaf-shaped bread for the light and textured breadbasket with the right arm",
+    "Pick up the bread with rounded corners and drop it in the textured beige breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread loaf medium-sized and drop it into the shallow rectangular breadbasket.",
+    "Place the soft rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Grab the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and place it in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and drop it in the breadbasket with woven pattern",
+    "Use the right arm to pick up the bread loaf medium-sized, then place it in the woven shallow breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized with one arm, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and drop it into the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread into the woven shallow breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and put it in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and place it in the woven shallow breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the shallow rectangular breadbasket.",
+    "Place the bread loaf medium-sized into the breadbasket with woven pattern using the right arm",
+    "Grab the small loaf-shaped bread and drop it into the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and put it in the shallow rectangular breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick up the small loaf-shaped bread, then place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick the soft rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf with one arm, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf into the breadbasket with woven pattern using the right arm",
+    "Grab the soft rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and put it in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and place it in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and drop it in the breadbasket with woven pattern",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the woven shallow breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized with one arm, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the small loaf-shaped bread, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Place the bread loaf medium-sized into the woven shallow breadbasket using the right arm",
+    "Grab the small loaf-shaped bread and drop it into the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and put it in the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and place it in the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized with one arm, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the small loaf-shaped bread, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf into the breadbasket with woven pattern using the right arm",
+    "Grab the soft rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and put it in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and place it in the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the bread loaf medium-sized, then place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized with one arm, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized, drop in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread into the breadbasket with woven pattern using the right arm",
+    "Grab the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and put it in the breadbasket with woven pattern.",
+    "Pick the soft rectangular bread loaf and place it in the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the bread loaf medium-sized, then place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread, drop in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the breadbasket with woven pattern.",
+    "Place the bread loaf medium-sized into the shallow rectangular breadbasket using the right arm",
+    "Grab the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the breadbasket with woven pattern.",
+    "Pick the soft rectangular bread loaf and place it in the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the breadbasket with woven pattern",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the breadbasket with woven pattern.",
+    "Place the bread loaf medium-sized into the woven shallow breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and put it in the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the breadbasket with woven pattern.",
+    "Place the soft rectangular bread loaf into the shallow rectangular breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the breadbasket with woven pattern.",
+    "Pick the soft rectangular bread loaf and drop it in the breadbasket with woven pattern",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized, drop in the woven shallow breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode26.json b/place_bread_basket/demo_randomized/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f724c290e9c12eab6a8b205f7e9032747eba113
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the light brown loaf with smooth sides and the square loaf of bread together to the synthetic material breadbasket.",
+    "Pick the brown loaf and the slice-shaped bread for the the two-hand-sized breadbasket",
+    "Grab both the bread with split top and the golden bread, drop into the two-hand-sized breadbasket.",
+    "Grab two breads the small golden brown bread and the square loaf of bread and place in the beige basket for holding bread.",
+    "Pick the light brown loaf with smooth sides and the golden bread, place them in the oval breadbasket.",
+    "Put the hand-sized oval loaf and the golden crusted bread slice into the medium oval breadbasket using two arms.",
+    "Move the small golden brown bread and the square loaf of bread to the breadbasket for small food items",
+    "Take the brown loaf and the rectangular bread soft inside then place in the oval basket for bread.",
+    "Move the bread with warm golden color and the bread loaf with square shape at once into the oval breadbasket.",
+    "Shift the bread with split top and the rectangular bread soft inside into the breadbasket with curved base",
+    "Simultaneously grab the soft brown bread and the brown bread loaf using the dual arm, then drop them in the beige basket for holding bread.",
+    "Simultaneously use the dual arm to drop the bread with golden-brown crust and the golden crusted bread slice in the synthetic material breadbasket.",
+    "Use both arms to move the soft brown bread, the golden bread to the two-hand-sized breadbasket.",
+    "Pick the brown loaf and the square loaf of bread and set them in the beige basket for holding bread.",
+    "Use the dual arm to place the golden bread loaf and the square loaf of bread into the basket with light brown weaving.",
+    "Take the bread with warm golden color and the square loaf of bread, place them inside the breadbasket with curved base.",
+    "Lift the bread with split top and the soft golden baked bread at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Take the small golden brown bread and the soft golden baked bread together and place them into the light brown breadbasket.",
+    "Use two arms and set the light brown loaf with smooth sides, the bread loaf with square shape in the oval breadbasket.",
+    "Pick up both the bread with warm golden color and the bread with firm crust edges, then place them in the breadbasket with curved base.",
+    "Take the bread with split top and the soft golden baked bread to the medium oval breadbasket",
+    "Lift the smooth loaf with rounded edges and the slice-shaped bread with two arms, put in the oval basket for bread.",
+    "Place the light brown loaf with smooth sides and the brown bread loaf in the basket with light brown weaving using the dual arm",
+    "Grab the small golden brown bread and the brown bread loaf quickly and drop them into the smooth-textured breadbasket.",
+    "Grab both the light brown bread with ridges and the bread with rounded corners with the dual arm and place in the medium oval breadbasket.",
+    "Simultaneously grab the light brown loaf with smooth sides and the slice-shaped bread, drop in the woven plastic breadbasket.",
+    "Shift the bread with warm golden color and the golden brown loaf-shaped bread together to the oval breadbasket.",
+    "Pick the bread with warm golden color and the golden bread for the the breadbasket for small food items",
+    "Grab both the light brown bread with ridges and the golden bread, drop into the light brown breadbasket.",
+    "Grab two breads the smooth loaf with rounded edges and the bread with firm crust edges and place in the oval basket for bread.",
+    "Pick the bread with golden-brown crust and the golden brown loaf-shaped bread, place them in the oval basket for bread.",
+    "Put the bread with split top and the bread with rounded corners into the synthetic material breadbasket using two arms.",
+    "Move the small golden brown bread and the golden bread to the woven plastic breadbasket",
+    "Take the hand-sized oval loaf and the bread with rounded corners then place in the oval basket for bread.",
+    "Move the bread with warm golden color and the bread loaf with square shape at once into the basket with light brown weaving.",
+    "Shift the light brown bread with ridges and the bread with rounded corners into the synthetic material breadbasket",
+    "Simultaneously grab the bread with golden-brown crust and the rectangular bread soft inside using the dual arm, then drop them in the two-hand-sized breadbasket.",
+    "Simultaneously use the dual arm to drop the soft brown bread and the slice-shaped bread in the two-hand-sized breadbasket.",
+    "Use both arms to move the light brown loaf with smooth sides, the bread with golden surface color to the synthetic material breadbasket.",
+    "Pick the light brown loaf with smooth sides and the bread with firm crust edges and set them in the oval basket for bread.",
+    "Use the dual arm to place the soft brown bread and the golden crusted bread slice into the light brown breadbasket.",
+    "Take the golden bread loaf and the square loaf of bread, place them inside the basket with light brown weaving.",
+    "Lift the brown loaf and the brown bread loaf at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Take the smooth loaf with rounded edges and the bread with firm crust edges together and place them into the basket with light brown weaving.",
+    "Use two arms and set the brown loaf, the bread with rounded corners in the medium oval breadbasket.",
+    "Pick up both the small loaf with curved top and the golden bread, then place them in the breadbasket for small food items.",
+    "Take the light brown loaf with smooth sides and the golden bread to the woven plastic breadbasket",
+    "Lift the golden bread loaf and the golden crusted bread slice with two arms, put in the oval breadbasket.",
+    "Place the small loaf with curved top and the bread with rounded corners in the light brown breadbasket using the dual arm",
+    "Grab the small loaf with curved top and the bread with firm crust edges quickly and drop them into the breadbasket for small food items.",
+    "Grab both the hand-sized oval loaf and the golden crusted bread slice with the dual arm and place in the beige basket for holding bread.",
+    "Simultaneously grab the smooth loaf with rounded edges and the slice-shaped bread, drop in the two-hand-sized breadbasket.",
+    "Shift the golden bread loaf and the brown bread loaf together to the breadbasket with curved base.",
+    "Pick the bread with split top and the soft golden baked bread for the the smooth-textured breadbasket",
+    "Grab both the light brown loaf with smooth sides and the bread with rounded corners, drop into the oval basket for bread.",
+    "Grab two breads the hand-sized oval loaf and the square loaf of bread and place in the synthetic material breadbasket.",
+    "Pick the brown loaf and the golden brown loaf-shaped bread, place them in the light brown breadbasket.",
+    "Put the light brown loaf with smooth sides and the soft golden baked bread into the oval basket for bread using two arms.",
+    "Move the soft brown bread and the golden bread to the light brown breadbasket",
+    "Take the small loaf with curved top and the bread with golden surface color then place in the oval basket for bread.",
+    "Move the small loaf with curved top and the golden brown loaf-shaped bread at once into the basket with light brown weaving.",
+    "Shift the bread with golden-brown crust and the bread with firm crust edges into the oval breadbasket",
+    "Simultaneously grab the soft brown bread and the bread with golden surface color using the dual arm, then drop them in the light brown breadbasket.",
+    "Simultaneously use the dual arm to drop the light brown loaf with smooth sides and the bread loaf with square shape in the breadbasket with curved base.",
+    "Use both arms to move the small loaf with curved top, the bread with golden surface color to the smooth-textured breadbasket.",
+    "Pick the bread with warm golden color and the square loaf of bread and set them in the basket with light brown weaving.",
+    "Use the dual arm to place the bread with split top and the bread with golden surface color into the oval basket for bread.",
+    "Take the soft brown bread and the rectangular bread soft inside, place them inside the woven plastic breadbasket.",
+    "Lift the bread with warm golden color and the bread with firm crust edges at once with the dual arm, then set them in the two-hand-sized breadbasket.",
+    "Take the small golden brown bread and the bread with rounded corners together and place them into the oval breadbasket.",
+    "Use two arms and set the soft brown bread, the bread with golden surface color in the beige basket for holding bread.",
+    "Pick up both the small loaf with curved top and the bread loaf with square shape, then place them in the synthetic material breadbasket.",
+    "Take the small golden brown bread and the golden bread to the medium oval breadbasket",
+    "Lift the light brown loaf with smooth sides and the slice-shaped bread with two arms, put in the two-hand-sized breadbasket.",
+    "Place the small loaf with curved top and the rectangular bread soft inside in the smooth-textured breadbasket using the dual arm",
+    "Grab the light brown bread with ridges and the square loaf of bread quickly and drop them into the smooth-textured breadbasket.",
+    "Grab both the light brown loaf with smooth sides and the brown bread loaf with the dual arm and place in the breadbasket for small food items.",
+    "Simultaneously grab the small golden brown bread and the bread with firm crust edges, drop in the breadbasket for small food items.",
+    "Shift the light brown bread with ridges and the slice-shaped bread together to the breadbasket with curved base.",
+    "Pick the bread with split top and the slice-shaped bread for the the breadbasket for small food items",
+    "Grab both the light brown loaf with smooth sides and the soft golden baked bread, drop into the basket with light brown weaving.",
+    "Grab two breads the small golden brown bread and the bread with firm crust edges and place in the breadbasket with curved base.",
+    "Pick the smooth loaf with rounded edges and the golden bread, place them in the oval basket for bread.",
+    "Put the small loaf with curved top and the bread with firm crust edges into the smooth-textured breadbasket using two arms.",
+    "Move the brown loaf and the slice-shaped bread to the beige basket for holding bread",
+    "Take the small golden brown bread and the bread with golden surface color then place in the smooth-textured breadbasket.",
+    "Move the light brown loaf with smooth sides and the square loaf of bread at once into the breadbasket for small food items.",
+    "Shift the small golden brown bread and the square loaf of bread into the breadbasket with curved base",
+    "Simultaneously grab the smooth loaf with rounded edges and the slice-shaped bread using the dual arm, then drop them in the light brown breadbasket.",
+    "Simultaneously use the dual arm to drop the small golden brown bread and the soft golden baked bread in the oval breadbasket.",
+    "Use both arms to move the bread with split top, the golden brown loaf-shaped bread to the oval breadbasket.",
+    "Pick the light brown bread with ridges and the rectangular bread soft inside and set them in the oval basket for bread.",
+    "Use the dual arm to place the smooth loaf with rounded edges and the bread with golden surface color into the breadbasket for small food items.",
+    "Take the bread with split top and the slice-shaped bread, place them inside the woven plastic breadbasket.",
+    "Lift the light brown loaf with smooth sides and the bread with firm crust edges at once with the dual arm, then set them in the beige basket for holding bread.",
+    "Take the soft brown bread and the golden crusted bread slice together and place them into the smooth-textured breadbasket.",
+    "Use two arms and set the small loaf with curved top, the golden brown loaf-shaped bread in the medium oval breadbasket.",
+    "Pick up both the brown loaf and the bread with golden surface color, then place them in the breadbasket with curved base.",
+    "Take the small golden brown bread and the bread with firm crust edges to the smooth-textured breadbasket",
+    "Lift the small golden brown bread and the golden brown loaf-shaped bread with two arms, put in the breadbasket with curved base."
+  ],
+  "unseen": [
+    "Pick the rounded oval bread and the small loaf-shaped bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the breadbasket with ridged texture.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Pick the oval bread and the small loaf-shaped bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Place the oval-shaped soft bread and the bread loaf medium-sized into the medium-sized breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized with two arms, place in the breadbasket with ridged texture.",
+    "Grab the oval bread and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the soft rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Pick the rounded oval bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the small loaf-shaped bread and place in the breadbasket with ridged texture.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the breadbasket with ridged texture using the dual arm",
+    "Grab the oval bread and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the medium-sized breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the small loaf-shaped bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Place the rounded oval bread and the small loaf-shaped bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the beige breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop them into the medium-sized breadbasket.",
+    "Use one arm to grab the oval bread and the small loaf-shaped bread, drop in the medium-sized breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and put them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Pick the oval bread and the bread loaf medium-sized and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the small loaf-shaped bread and place in the breadbasket with ridged texture.",
+    "Place the oval bread and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the soft rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Grab the oval bread and the bread loaf medium-sized and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the breadbasket with ridged texture.",
+    "Place the oval bread and the soft rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Grab the oval bread and the soft rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the soft rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Pick the oval-shaped soft bread and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the breadbasket with ridged texture.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the medium-sized breadbasket using the dual arm",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the beige breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and drop them into the medium-sized breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop it into the beige breadbasket.",
+    "Use the dual arm to pick up the oval bread and the soft rectangular bread loaf, then place them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rounded oval bread and the small loaf-shaped bread and place in the beige breadbasket.",
+    "Place the oval bread and the bread loaf medium-sized into the medium-sized breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop them into the medium-sized breadbasket.",
+    "Use one arm to grab the oval bread and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and put them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Pick the rounded oval bread and the bread loaf medium-sized and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Place the rounded oval bread and the small loaf-shaped bread into the medium-sized breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread with two arms, place in the beige breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the oval bread and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the small loaf-shaped bread and place in the breadbasket with ridged texture.",
+    "Place the rounded oval bread and the soft rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and drop them into the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Grab the oval bread and the soft rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the breadbasket with ridged texture.",
+    "Pick the oval bread and the soft rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the breadbasket with ridged texture.",
+    "Place the oval bread and the soft rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the oval bread and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the rounded oval bread and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rounded oval bread and the soft rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Pick the rounded oval bread and the bread loaf medium-sized and place them in the medium-sized breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode27.json b/place_bread_basket/demo_randomized/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..5354922a2da6c66ad24cd3e8f34360c9f4c34485
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the soft bread and the bread with rounded edges, place them inside the beige plastic breadbasket.",
+    "Pick up both the golden bread loaf and the light brown porous bread, then place them in the beige basket with white grid design.",
+    "Use the dual arm to place the golden bread and the rounded square loaf into the basket for bread beige plastic.",
+    "Simultaneously grab the bread block with light patches and the rounded square loaf using the dual arm, then drop them in the medium breadbasket with perforated sides.",
+    "Grab the soft bread and the sponge-textured golden bread quickly and drop them into the beige basket with white grid design.",
+    "Grab both the golden bread loaf and the soft square bread with the dual arm and place in the white oval breadbasket.",
+    "Simultaneously grab the bread loaf with bumpy surface and the light brown porous bread, drop in the basket for carrying bread beige.",
+    "Take the hand-sized bread block and the golden brown bread then place in the medium oval basket for bread.",
+    "Grab both the doughy and soft bread and the sponge-textured golden bread, drop into the beige breadbasket.",
+    "Pick the cuboid bread and the light brown porous bread, place them in the medium breadbasket with perforated sides.",
+    "Grab two breads the cuboid bread and the soft square bread and place in the beige breadbasket.",
+    "Lift the bread loaf with bumpy surface and the rounded square loaf at once with the dual arm, then set them in the basket for carrying bread beige.",
+    "Take the bread loaf with bumpy surface and the light brown porous bread to the medium plastic breadbasket oval shape",
+    "Shift the bread loaf with bumpy surface and the golden baked bread together to the basket for carrying bread beige.",
+    "Move the bread with rough texture and the light brown porous bread to the medium oval basket for bread",
+    "Put the hand-sized bread block and the medium-sized bread piece into the beige breadbasket using two arms.",
+    "Use both arms to move the square-shaped bread, the bread with soft texture to the oval perforated breadbasket white edges.",
+    "Move the hand-sized bread block and the soft square bread at once into the medium plastic breadbasket oval shape.",
+    "Shift the bread loaf with uneven edges and the golden baked bread into the smooth textured breadbasket",
+    "Place the hand-sized bread block and the golden baked bread in the basket for bread beige plastic using the dual arm",
+    "Lift the bread with rough texture and the medium bread with rounded sides with two arms, put in the beige breadbasket.",
+    "Simultaneously use the dual arm to drop the soft bread and the sponge-textured golden bread in the basket for carrying bread beige.",
+    "Pick the bread with rough texture and the medium-sized bread piece for the the beige plastic breadbasket",
+    "Pick the square-shaped bread and the square-shaped bread piece and set them in the beige breadbasket.",
+    "Use two arms and set the bread with rough texture, the light brown porous bread in the oval perforated breadbasket white edges.",
+    "Take the cuboid bread and the light brown porous bread together and place them into the smooth textured breadbasket.",
+    "Take the hand-sized bread block and the medium-sized bread piece, place them inside the medium plastic breadbasket oval shape.",
+    "Pick up both the doughy and soft bread and the medium-sized bread piece, then place them in the medium plastic breadbasket oval shape.",
+    "Use the dual arm to place the hand-sized bread block and the soft square bread into the beige breadbasket.",
+    "Simultaneously grab the doughy and soft bread and the golden brown bread using the dual arm, then drop them in the beige plastic breadbasket.",
+    "Grab the hand-sized bread block and the medium bread with rounded sides quickly and drop them into the beige basket with white grid design.",
+    "Grab both the square-shaped bread and the golden brown bread with the dual arm and place in the oval perforated breadbasket white edges.",
+    "Simultaneously grab the light golden brown bread and the medium bread with rounded sides, drop in the oval-shaped breadbasket.",
+    "Take the golden bread and the golden baked bread then place in the basket for carrying bread beige.",
+    "Grab both the golden bread and the rounded square loaf, drop into the basket for bread beige plastic.",
+    "Pick the bread loaf with bumpy surface and the bread with rounded edges, place them in the basket for bread beige plastic.",
+    "Grab two breads the square-shaped bread and the sponge-textured golden bread and place in the smooth textured breadbasket.",
+    "Lift the golden bread loaf and the square-shaped bread piece at once with the dual arm, then set them in the beige basket with white grid design.",
+    "Take the hand-sized bread block and the bread with soft texture to the smooth textured breadbasket",
+    "Shift the bread block with light patches and the light brown porous bread together to the medium oval basket for bread.",
+    "Move the bread loaf with uneven edges and the soft square bread to the basket for carrying bread beige",
+    "Put the square-shaped bread and the rounded square loaf into the white oval breadbasket using two arms.",
+    "Use both arms to move the bread with rough texture, the light brown porous bread to the beige breadbasket.",
+    "Move the golden bread and the medium-sized bread piece at once into the oval perforated breadbasket white edges.",
+    "Shift the hand-sized bread block and the bread with rounded edges into the white oval breadbasket",
+    "Place the bread loaf with bumpy surface and the golden baked bread in the beige plastic breadbasket using the dual arm",
+    "Lift the bread with rough texture and the rounded square loaf with two arms, put in the medium plastic breadbasket oval shape.",
+    "Simultaneously use the dual arm to drop the bread block with light patches and the sponge-textured golden bread in the beige plastic breadbasket.",
+    "Pick the bread loaf with bumpy surface and the bread with rounded edges for the the medium breadbasket with perforated sides",
+    "Pick the bread with rough texture and the medium-sized bread piece and set them in the basket for bread beige plastic.",
+    "Use two arms and set the bread block with light patches, the bread with soft texture in the beige basket with white grid design.",
+    "Take the soft bread and the rounded square loaf together and place them into the oval perforated breadbasket white edges.",
+    "Take the cuboid bread and the bread with rounded edges, place them inside the beige basket with white grid design.",
+    "Pick up both the bread with rough texture and the rounded square loaf, then place them in the medium oval basket for bread.",
+    "Use the dual arm to place the cuboid bread and the medium-sized bread piece into the oval perforated breadbasket white edges.",
+    "Simultaneously grab the golden bread loaf and the rounded square loaf using the dual arm, then drop them in the smooth textured breadbasket.",
+    "Grab the golden bread loaf and the square-shaped bread piece quickly and drop them into the medium plastic breadbasket oval shape.",
+    "Grab both the golden bread and the bread with rounded edges with the dual arm and place in the oval perforated breadbasket white edges.",
+    "Simultaneously grab the golden bread loaf and the fluffy baked bread, drop in the smooth textured breadbasket.",
+    "Take the soft bread and the golden brown bread then place in the smooth textured breadbasket.",
+    "Grab both the hand-sized bread block and the light brown porous bread, drop into the basket for bread beige plastic.",
+    "Pick the golden bread loaf and the medium bread with rounded sides, place them in the medium breadbasket with perforated sides.",
+    "Grab two breads the bread loaf with bumpy surface and the rounded square loaf and place in the oval perforated breadbasket white edges.",
+    "Lift the bread block with light patches and the medium-sized bread piece at once with the dual arm, then set them in the beige breadbasket.",
+    "Take the soft bread and the square-shaped bread piece to the oval-shaped breadbasket",
+    "Shift the bread loaf with bumpy surface and the bread with rounded edges together to the beige plastic breadbasket.",
+    "Move the bread with rough texture and the bread with rounded edges to the oval-shaped breadbasket",
+    "Put the hand-sized bread block and the soft square bread into the beige basket with white grid design using two arms.",
+    "Use both arms to move the bread with rough texture, the medium-sized bread piece to the white oval breadbasket.",
+    "Move the hand-sized bread block and the light brown porous bread at once into the medium breadbasket with perforated sides.",
+    "Shift the bread loaf with uneven edges and the medium bread with rounded sides into the white oval breadbasket",
+    "Place the hand-sized bread block and the square-shaped bread piece in the white oval breadbasket using the dual arm",
+    "Lift the bread block with light patches and the sponge-textured golden bread with two arms, put in the smooth textured breadbasket.",
+    "Simultaneously use the dual arm to drop the doughy and soft bread and the medium-sized bread piece in the medium breadbasket with perforated sides.",
+    "Pick the golden bread and the light brown porous bread for the the white oval breadbasket",
+    "Pick the cuboid bread and the square-shaped bread piece and set them in the basket for carrying bread beige.",
+    "Use two arms and set the bread block with light patches, the fluffy baked bread in the beige breadbasket.",
+    "Take the soft bread and the square-shaped bread piece together and place them into the beige breadbasket.",
+    "Take the bread block with light patches and the fluffy baked bread, place them inside the medium oval basket for bread.",
+    "Pick up both the doughy and soft bread and the rounded square loaf, then place them in the beige breadbasket.",
+    "Use the dual arm to place the bread with rough texture and the soft square bread into the oval-shaped breadbasket.",
+    "Simultaneously grab the golden bread and the bread with rounded edges using the dual arm, then drop them in the medium plastic breadbasket oval shape.",
+    "Grab the square-shaped bread and the bread with rounded edges quickly and drop them into the medium plastic breadbasket oval shape.",
+    "Grab both the bread with rough texture and the fluffy baked bread with the dual arm and place in the beige basket with white grid design.",
+    "Simultaneously grab the square-shaped bread and the square-shaped bread piece, drop in the smooth textured breadbasket.",
+    "Take the hand-sized bread block and the golden brown bread then place in the medium plastic breadbasket oval shape.",
+    "Grab both the square-shaped bread and the bread with soft texture, drop into the basket for carrying bread beige.",
+    "Pick the bread loaf with bumpy surface and the fluffy baked bread, place them in the medium breadbasket with perforated sides.",
+    "Grab two breads the bread loaf with bumpy surface and the bread with rounded edges and place in the medium breadbasket with perforated sides.",
+    "Lift the golden bread and the medium bread with rounded sides at once with the dual arm, then set them in the white oval breadbasket.",
+    "Take the golden bread and the medium-sized bread piece to the medium plastic breadbasket oval shape",
+    "Shift the cuboid bread and the bread with rounded edges together to the beige basket with white grid design.",
+    "Move the doughy and soft bread and the medium-sized bread piece to the smooth textured breadbasket",
+    "Put the square-shaped bread and the golden brown bread into the white oval breadbasket using two arms.",
+    "Use both arms to move the square-shaped bread, the square-shaped bread piece to the medium breadbasket with perforated sides.",
+    "Move the soft bread and the sponge-textured golden bread at once into the medium plastic breadbasket oval shape.",
+    "Shift the bread with rough texture and the rounded square loaf into the basket for carrying bread beige",
+    "Place the bread loaf with uneven edges and the bread with rounded edges in the oval perforated breadbasket white edges using the dual arm",
+    "Lift the cuboid bread and the light brown porous bread with two arms, put in the beige breadbasket.",
+    "Simultaneously use the dual arm to drop the soft bread and the square-shaped bread piece in the white oval breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread with golden crust and the spongy golden brown bread with two arms, place in the white basket with beige bottom.",
+    "Place the bread loaf with soft surface and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the bread loaf with soft surface and the soft bread with golden edges and place them in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the bread with golden crust and the square bread with light spots and place in the white basket with beige bottom.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread with golden crust and the square bread with light spots, drop in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the square bread with light spots with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the rectangular bread loaf and the square bread with light spots into the white basket with beige bottom using the dual arm",
+    "Pick the rectangular bread loaf and the soft bread with golden edges and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the rectangular bread loaf and the square bread with light spots and place in the white basket with beige bottom.",
+    "Use the dual arm to pick up the rectangular bread loaf and the soft bread with golden edges, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread loaf with soft surface and the spongy golden brown bread, drop in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust and the soft bread with golden edges into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the rectangular bread loaf and the soft bread with golden edges and place them in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the bread with golden crust and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the spongy golden brown bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread loaf with soft surface and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the soft bread with golden edges with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust and the soft bread with golden edges into the white basket with beige bottom using the dual arm",
+    "Pick the bread loaf with soft surface and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Grab the bread with golden crust and the square bread with light spots and drop them into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick the bread with golden crust and the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the square bread with light spots, then place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread with golden crust and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Grab the bread with golden crust and the spongy golden brown bread with two arms, place in the white basket with beige bottom.",
+    "Place the bread with golden crust and the spongy golden brown bread into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the rectangular bread loaf and the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread with golden crust and the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the bread loaf with soft surface and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the bread with golden crust and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Use one arm to grab the rectangular bread loaf and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the square bread with light spots with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the rectangular bread loaf and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the bread with golden crust and the square bread with light spots and place in the white basket with beige bottom.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread loaf with soft surface and the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Place the bread with golden crust and the spongy golden brown bread into the white basket with beige bottom using the dual arm",
+    "Pick the bread with golden crust and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop them into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the bread with golden crust and the spongy golden brown bread and place in the white basket with beige bottom.",
+    "Use the dual arm to pick up the rectangular bread loaf and the square bread with light spots, then place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the bread with golden crust and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the soft bread with golden edges with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Place the rectangular bread loaf and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the bread loaf with soft surface and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the bread with golden crust and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rectangular bread loaf and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the square bread with light spots with two arms, place in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface and the soft bread with golden edges into the breadbasket with hollowed white walls using the dual arm",
+    "Pick the bread loaf with soft surface and the square bread with light spots and place them in the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Use the dual arm to pick the rectangular bread loaf and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread with golden crust and the spongy golden brown bread, drop in the white basket with beige bottom.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Place the bread with golden crust and the square bread with light spots into the white basket with beige bottom using the dual arm",
+    "Pick the bread with golden crust and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the bread loaf with soft surface and the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the rectangular bread loaf and the soft bread with golden edges, then place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the bread with golden crust and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and the soft bread with golden edges with two arms, place in the white basket with beige bottom."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode28.json b/place_bread_basket/demo_randomized/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b924ad1c187984cb97094934d870c30e5da5275
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small loaf with curved top and the bread with firm crust edges quickly and drop them into the medium oval breadbasket.",
+    "Take the soft brown bread and the slice-shaped bread to the breadbasket for small food items",
+    "Lift the light brown loaf with smooth sides and the golden bread at once with the left arm, then set them in the beige basket for holding bread.",
+    "Take the hand-sized oval loaf and the square loaf of bread then place in the beige basket for holding bread.",
+    "Simultaneously grab the small golden brown bread and the bread with firm crust edges, drop in the medium oval breadbasket.",
+    "Grab both the soft brown bread and the soft golden baked bread with the left arm and place in the smooth-textured breadbasket.",
+    "Pick up both the bread with golden-brown crust and the square loaf of bread, then place them in the smooth-textured breadbasket.",
+    "Pick the light brown bread with ridges and the brown bread loaf, place them in the oval breadbasket.",
+    "Use two arms and set the small golden brown bread, the golden bread in the light brown breadbasket.",
+    "Place the soft brown bread and the golden brown loaf-shaped bread in the beige basket for holding bread using the left arm",
+    "Take the bread with split top and the golden bread, place them inside the woven plastic breadbasket.",
+    "Simultaneously use the left arm to drop the bread with golden-brown crust and the bread loaf with square shape in the oval basket for bread.",
+    "Use both arms to move the light brown loaf with smooth sides, the bread loaf with square shape to the oval basket for bread.",
+    "Grab two breads the small loaf with curved top and the bread loaf with square shape and place in the woven plastic breadbasket.",
+    "Shift the bread with warm golden color and the golden bread into the breadbasket for small food items",
+    "Pick the bread with warm golden color and the bread with rounded corners and set them in the oval breadbasket.",
+    "Shift the light brown loaf with smooth sides and the golden crusted bread slice together to the beige basket for holding bread.",
+    "Pick the small golden brown bread and the rectangular bread soft inside for the the smooth-textured breadbasket",
+    "Simultaneously grab the small golden brown bread and the bread with golden surface color using the left arm, then drop them in the light brown breadbasket.",
+    "Put the bread with golden-brown crust and the bread with golden surface color into the breadbasket with curved base using two arms.",
+    "Move the bread with golden-brown crust and the golden crusted bread slice at once into the medium oval breadbasket.",
+    "Use the left arm to place the smooth loaf with rounded edges and the bread with rounded corners into the oval basket for bread.",
+    "Move the light brown bread with ridges and the brown bread loaf to the woven plastic breadbasket",
+    "Lift the soft brown bread and the brown bread loaf with two arms, put in the synthetic material breadbasket.",
+    "Take the small loaf with curved top and the golden bread together and place them into the light brown breadbasket.",
+    "Grab both the soft brown bread and the slice-shaped bread, drop into the breadbasket for small food items.",
+    "Grab the golden bread loaf and the rectangular bread soft inside quickly and drop them into the breadbasket with curved base.",
+    "Take the bread with split top and the golden crusted bread slice to the breadbasket with curved base",
+    "Lift the bread with golden-brown crust and the bread with golden surface color at once with the left arm, then set them in the woven plastic breadbasket.",
+    "Take the light brown bread with ridges and the golden bread then place in the smooth-textured breadbasket.",
+    "Simultaneously grab the small golden brown bread and the bread with golden surface color, drop in the synthetic material breadbasket.",
+    "Grab both the bread with warm golden color and the golden brown loaf-shaped bread with the left arm and place in the medium oval breadbasket.",
+    "Pick up both the small loaf with curved top and the golden bread, then place them in the woven plastic breadbasket.",
+    "Pick the bread with split top and the golden bread, place them in the woven plastic breadbasket.",
+    "Use two arms and set the bread with golden-brown crust, the golden bread in the oval breadbasket.",
+    "Place the bread with split top and the golden crusted bread slice in the light brown breadbasket using the left arm",
+    "Take the small golden brown bread and the bread with golden surface color, place them inside the medium oval breadbasket.",
+    "Simultaneously use the left arm to drop the hand-sized oval loaf and the soft golden baked bread in the medium oval breadbasket.",
+    "Use both arms to move the bread with warm golden color, the golden brown loaf-shaped bread to the oval basket for bread.",
+    "Grab two breads the small golden brown bread and the bread with firm crust edges and place in the smooth-textured breadbasket.",
+    "Shift the smooth loaf with rounded edges and the brown bread loaf into the two-hand-sized breadbasket",
+    "Pick the smooth loaf with rounded edges and the bread with rounded corners and set them in the light brown breadbasket.",
+    "Shift the bread with golden-brown crust and the square loaf of bread together to the basket with light brown weaving.",
+    "Pick the brown loaf and the bread with rounded corners for the the beige basket for holding bread",
+    "Simultaneously grab the bread with split top and the brown bread loaf using the left arm, then drop them in the breadbasket with curved base.",
+    "Put the small loaf with curved top and the bread loaf with square shape into the synthetic material breadbasket using two arms.",
+    "Move the smooth loaf with rounded edges and the square loaf of bread at once into the synthetic material breadbasket.",
+    "Use the left arm to place the bread with golden-brown crust and the slice-shaped bread into the beige basket for holding bread.",
+    "Move the light brown bread with ridges and the bread with golden surface color to the breadbasket with curved base",
+    "Lift the light brown loaf with smooth sides and the bread with golden surface color with two arms, put in the smooth-textured breadbasket.",
+    "Take the bread with warm golden color and the brown bread loaf together and place them into the breadbasket with curved base.",
+    "Grab both the soft brown bread and the slice-shaped bread, drop into the oval basket for bread.",
+    "Grab the light brown loaf with smooth sides and the bread with firm crust edges quickly and drop them into the synthetic material breadbasket.",
+    "Take the bread with golden-brown crust and the bread loaf with square shape to the breadbasket with curved base",
+    "Lift the brown loaf and the golden bread at once with the left arm, then set them in the medium oval breadbasket.",
+    "Take the light brown bread with ridges and the brown bread loaf then place in the breadbasket for small food items.",
+    "Simultaneously grab the bread with golden-brown crust and the golden crusted bread slice, drop in the light brown breadbasket.",
+    "Grab both the soft brown bread and the golden crusted bread slice with the left arm and place in the medium oval breadbasket.",
+    "Pick up both the bread with warm golden color and the rectangular bread soft inside, then place them in the light brown breadbasket.",
+    "Pick the small loaf with curved top and the bread with golden surface color, place them in the synthetic material breadbasket.",
+    "Use two arms and set the smooth loaf with rounded edges, the golden brown loaf-shaped bread in the two-hand-sized breadbasket.",
+    "Place the smooth loaf with rounded edges and the rectangular bread soft inside in the basket with light brown weaving using the left arm",
+    "Take the hand-sized oval loaf and the golden bread, place them inside the breadbasket with curved base.",
+    "Simultaneously use the left arm to drop the bread with golden-brown crust and the bread with rounded corners in the light brown breadbasket.",
+    "Use both arms to move the bread with golden-brown crust, the brown bread loaf to the light brown breadbasket.",
+    "Grab two breads the brown loaf and the slice-shaped bread and place in the basket with light brown weaving.",
+    "Shift the golden bread loaf and the golden crusted bread slice into the oval basket for bread",
+    "Pick the light brown bread with ridges and the bread with golden surface color and set them in the two-hand-sized breadbasket.",
+    "Shift the small loaf with curved top and the square loaf of bread together to the synthetic material breadbasket.",
+    "Pick the small loaf with curved top and the golden bread for the the light brown breadbasket",
+    "Simultaneously grab the bread with golden-brown crust and the slice-shaped bread using the left arm, then drop them in the basket with light brown weaving.",
+    "Put the light brown loaf with smooth sides and the square loaf of bread into the light brown breadbasket using two arms.",
+    "Move the light brown loaf with smooth sides and the brown bread loaf at once into the smooth-textured breadbasket.",
+    "Use the left arm to place the light brown loaf with smooth sides and the bread loaf with square shape into the light brown breadbasket.",
+    "Move the bread with golden-brown crust and the bread loaf with square shape to the woven plastic breadbasket",
+    "Lift the brown loaf and the bread loaf with square shape with two arms, put in the light brown breadbasket.",
+    "Take the brown loaf and the brown bread loaf together and place them into the oval breadbasket.",
+    "Grab both the hand-sized oval loaf and the bread with firm crust edges, drop into the basket with light brown weaving.",
+    "Grab the small golden brown bread and the bread with firm crust edges quickly and drop them into the two-hand-sized breadbasket.",
+    "Take the brown loaf and the brown bread loaf to the synthetic material breadbasket",
+    "Lift the bread with golden-brown crust and the golden crusted bread slice at once with the left arm, then set them in the smooth-textured breadbasket.",
+    "Take the smooth loaf with rounded edges and the rectangular bread soft inside then place in the synthetic material breadbasket.",
+    "Simultaneously grab the bread with warm golden color and the bread with firm crust edges, drop in the synthetic material breadbasket.",
+    "Grab both the soft brown bread and the brown bread loaf with the left arm and place in the oval basket for bread.",
+    "Pick up both the soft brown bread and the bread with golden surface color, then place them in the oval basket for bread.",
+    "Pick the light brown bread with ridges and the golden brown loaf-shaped bread, place them in the light brown breadbasket.",
+    "Use two arms and set the golden bread loaf, the golden bread in the medium oval breadbasket.",
+    "Place the bread with warm golden color and the golden bread in the breadbasket with curved base using the left arm",
+    "Take the bread with golden-brown crust and the golden brown loaf-shaped bread, place them inside the smooth-textured breadbasket.",
+    "Simultaneously use the left arm to drop the light brown bread with ridges and the golden brown loaf-shaped bread in the basket with light brown weaving.",
+    "Use both arms to move the small golden brown bread, the slice-shaped bread to the synthetic material breadbasket.",
+    "Grab two breads the hand-sized oval loaf and the golden crusted bread slice and place in the beige basket for holding bread.",
+    "Shift the golden bread loaf and the bread loaf with square shape into the breadbasket with curved base",
+    "Pick the small loaf with curved top and the soft golden baked bread and set them in the breadbasket for small food items.",
+    "Shift the light brown bread with ridges and the golden bread together to the medium oval breadbasket.",
+    "Pick the light brown loaf with smooth sides and the rectangular bread soft inside for the the light brown breadbasket",
+    "Simultaneously grab the small loaf with curved top and the golden brown loaf-shaped bread using the left arm, then drop them in the synthetic material breadbasket.",
+    "Put the soft brown bread and the rectangular bread soft inside into the synthetic material breadbasket using two arms.",
+    "Move the light brown bread with ridges and the bread loaf with square shape at once into the beige basket for holding bread.",
+    "Use the left arm to place the light brown bread with ridges and the soft golden baked bread into the synthetic material breadbasket."
+  ],
+  "unseen": [
+    "Use one arm to grab the oval bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Use the left arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the medium-sized breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and drop them into the beige breadbasket.",
+    "Use the left arm to pick the oval bread and the soft rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Place the oval-shaped soft bread and the soft rectangular bread loaf into the breadbasket with ridged texture using the left arm",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and put them in the beige breadbasket.",
+    "Pick the oval bread and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the breadbasket with ridged texture.",
+    "Use the left arm to pick up the oval bread and the bread loaf medium-sized, then place them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop them into the medium-sized breadbasket.",
+    "Use the left arm to pick the oval bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop it into the medium-sized breadbasket.",
+    "Place the rounded oval bread and the small loaf-shaped bread into the breadbasket with ridged texture using the left arm",
+    "Grab the oval bread and the small loaf-shaped bread and put them in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Use one arm to grab the oval bread and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Use the left arm to pick up the oval bread and the soft rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop them into the medium-sized breadbasket.",
+    "Use the left arm to pick the oval bread and the bread loaf medium-sized and place in the breadbasket with ridged texture.",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the medium-sized breadbasket using the left arm",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval bread and the soft rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the left arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Use the left arm to pick the rounded oval bread and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Place the rounded oval bread and the small loaf-shaped bread into the medium-sized breadbasket using the left arm",
+    "Grab the rounded oval bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Pick the oval-shaped soft bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Use one arm to grab the rounded oval bread and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Use the left arm to pick up the oval bread and the soft rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop them into the beige breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the small loaf-shaped bread and place in the beige breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Place the oval-shaped soft bread and the small loaf-shaped bread into the breadbasket with ridged texture using the left arm",
+    "Grab the rounded oval bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Pick the rounded oval bread and the soft rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the rounded oval bread and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Use the left arm to pick up the oval-shaped soft bread and the bread loaf medium-sized, then place them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Use the left arm to pick the rounded oval bread and the soft rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Place the oval bread and the bread loaf medium-sized into the breadbasket with ridged texture using the left arm",
+    "Grab the rounded oval bread and the bread loaf medium-sized and put them in the breadbasket with ridged texture.",
+    "Pick the oval bread and the small loaf-shaped bread and place them in the beige breadbasket.",
+    "Use one arm to grab the oval bread and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Use the left arm to pick up the oval-shaped soft bread and the soft rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop them into the breadbasket with ridged texture.",
+    "Use the left arm to pick the rounded oval bread and the soft rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Place the rounded oval bread and the soft rectangular bread loaf into the medium-sized breadbasket using the left arm",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and put them in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the soft rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Use one arm to grab the rounded oval bread and the soft rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the left arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop it into the beige breadbasket.",
+    "Place the rounded oval bread and the small loaf-shaped bread into the breadbasket with ridged texture using the left arm",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and put them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Use one arm to grab the oval bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Use the left arm to pick up the oval bread and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop them into the medium-sized breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the small loaf-shaped bread with two arms, place in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop it into the breadbasket with ridged texture.",
+    "Place the rounded oval bread and the soft rectangular bread loaf into the breadbasket with ridged texture using the left arm",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and put them in the beige breadbasket.",
+    "Pick the rounded oval bread and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the small loaf-shaped bread, drop in the medium-sized breadbasket.",
+    "Use the left arm to pick up the oval bread and the bread loaf medium-sized, then place them in the breadbasket with ridged texture.",
+    "Grab the oval bread and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the medium-sized breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized with two arms, place in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Place the oval bread and the bread loaf medium-sized into the medium-sized breadbasket using the left arm",
+    "Grab the rounded oval bread and the bread loaf medium-sized and put them in the beige breadbasket.",
+    "Pick the oval bread and the soft rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Use the left arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the soft rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread with two arms, place in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Place the oval bread and the small loaf-shaped bread into the beige breadbasket using the left arm",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Pick the oval bread and the small loaf-shaped bread and place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval bread and the bread loaf medium-sized, drop in the breadbasket with ridged texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode29.json b/place_bread_basket/demo_randomized/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..be73e6538c725666b9b41ca1bcfcec9a520e6323
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth loaf with rounded edges and the golden bread loaf with soft inside with two arms, put in the breadbasket with spiral lines.",
+    "Shift the golden bread loaf and the golden brown bread with braided design into the palm-sized breadbasket",
+    "Use two arms and set the bread with split top, the soft golden bread in the breadbasket for dough.",
+    "Lift the light brown bread with ridges and the golden brown bread at once with the left arm, then set them in the round breadbasket.",
+    "Grab two breads the light brown bread with ridges and the golden brown bread and place in the breadbasket for dough.",
+    "Simultaneously use the left arm to drop the small golden brown bread and the golden brown bread in the wooden breadbasket.",
+    "Pick the bread with golden-brown crust and the small bread, place them in the breadbasket with flat base.",
+    "Use the left arm to place the bread with golden-brown crust and the small bread into the breadbasket with spiral lines.",
+    "Place the light brown loaf with smooth sides and the golden brown bread in the palm-sized breadbasket using the left arm",
+    "Pick the brown loaf and the golden brown bread with braided design for the the spiral ridged breadbasket",
+    "Simultaneously grab the bread with warm golden color and the bread with golden crust using the left arm, then drop them in the smooth beige breadbasket.",
+    "Take the bread with golden-brown crust and the soft golden bread together and place them into the breadbasket shaped like a bowl.",
+    "Shift the smooth loaf with rounded edges and the soft doughy bread together to the spiral ridged breadbasket.",
+    "Take the soft brown bread and the golden brown bread with braided design then place in the breadbasket for dough.",
+    "Move the bread with warm golden color and the round bread with crusty texture to the spiral ridged breadbasket",
+    "Move the soft brown bread and the golden brown bread with braided design at once into the breadbasket for dough.",
+    "Pick up both the small loaf with curved top and the soft golden bread, then place them in the palm-sized breadbasket.",
+    "Put the bread with split top and the braided bread loaf into the round breadbasket using two arms.",
+    "Grab both the soft brown bread and the small bread, drop into the smooth beige breadbasket.",
+    "Grab the bread with golden-brown crust and the bread with golden crust quickly and drop them into the breadbasket shaped like a bowl.",
+    "Pick the small loaf with curved top and the golden brown bread with braided design and set them in the breadbasket for baking.",
+    "Take the light brown bread with ridges and the small bread to the breadbasket with spiral lines",
+    "Grab both the soft brown bread and the round bread with crusty texture with the left arm and place in the breadbasket shaped like a bowl.",
+    "Take the smooth loaf with rounded edges and the bread with golden crust, place them inside the breadbasket made of woven wood.",
+    "Simultaneously grab the bread with split top and the golden brown bread, drop in the breadbasket shaped like a bowl.",
+    "Use both arms to move the bread with golden-brown crust, the golden brown bread with braided design to the breadbasket shaped like a bowl.",
+    "Lift the light brown bread with ridges and the golden brown bread with two arms, put in the wooden breadbasket.",
+    "Shift the light brown bread with ridges and the braided bread loaf into the breadbasket shaped like a bowl",
+    "Use two arms and set the light brown loaf with smooth sides, the soft doughy bread in the wooden breadbasket.",
+    "Lift the small loaf with curved top and the small golden baked bread at once with the left arm, then set them in the breadbasket with flat base.",
+    "Grab two breads the bread with golden-brown crust and the round bread with braided top and place in the wooden breadbasket.",
+    "Simultaneously use the left arm to drop the small loaf with curved top and the golden brown bread with braided design in the breadbasket with spiral lines.",
+    "Pick the smooth loaf with rounded edges and the round bread with crusty texture, place them in the breadbasket for baking.",
+    "Use the left arm to place the small loaf with curved top and the braided bread loaf into the smooth beige breadbasket.",
+    "Place the smooth loaf with rounded edges and the soft doughy bread in the palm-sized breadbasket using the left arm",
+    "Pick the soft brown bread and the golden brown bread with braided design for the the smooth beige breadbasket",
+    "Simultaneously grab the hand-sized oval loaf and the soft doughy bread using the left arm, then drop them in the breadbasket made of woven wood.",
+    "Take the smooth loaf with rounded edges and the smooth crusty small bread together and place them into the breadbasket shaped like a bowl.",
+    "Shift the hand-sized oval loaf and the golden brown bread with braided design together to the breadbasket made of woven wood.",
+    "Take the hand-sized oval loaf and the golden brown bread then place in the breadbasket for baking.",
+    "Move the golden bread loaf and the round bread with braided top to the smooth beige breadbasket",
+    "Move the bread with warm golden color and the smooth crusty small bread at once into the medium breadbasket.",
+    "Pick up both the small loaf with curved top and the golden bread loaf with soft inside, then place them in the breadbasket for baking.",
+    "Put the light brown loaf with smooth sides and the golden bread loaf with soft inside into the smooth beige breadbasket using two arms.",
+    "Grab both the light brown loaf with smooth sides and the soft doughy bread, drop into the wooden breadbasket.",
+    "Grab the bread with golden-brown crust and the round bread with braided top quickly and drop them into the breadbasket made of woven wood.",
+    "Pick the light brown bread with ridges and the golden bread loaf with soft inside and set them in the breadbasket with spiral lines.",
+    "Take the light brown bread with ridges and the golden brown bread to the medium breadbasket",
+    "Grab both the bread with split top and the soft doughy bread with the left arm and place in the breadbasket made of woven wood.",
+    "Take the light brown loaf with smooth sides and the round bread with crusty texture, place them inside the breadbasket for dough.",
+    "Simultaneously grab the hand-sized oval loaf and the smooth crusty small bread, drop in the wooden breadbasket.",
+    "Use both arms to move the bread with split top, the soft doughy bread to the round breadbasket.",
+    "Lift the brown loaf and the smooth crusty small bread with two arms, put in the breadbasket made of woven wood.",
+    "Shift the bread with split top and the round bread with crusty texture into the breadbasket for dough",
+    "Use two arms and set the hand-sized oval loaf, the soft golden bread in the breadbasket for baking.",
+    "Lift the small loaf with curved top and the golden bread loaf with soft inside at once with the left arm, then set them in the wooden breadbasket.",
+    "Grab two breads the small loaf with curved top and the soft doughy bread and place in the breadbasket shaped like a bowl.",
+    "Simultaneously use the left arm to drop the light brown loaf with smooth sides and the bread with golden crust in the round breadbasket.",
+    "Pick the brown loaf and the smooth crusty small bread, place them in the breadbasket made of woven wood.",
+    "Use the left arm to place the bread with split top and the small golden baked bread into the smooth beige breadbasket.",
+    "Place the brown loaf and the golden brown bread in the breadbasket with flat base using the left arm",
+    "Pick the hand-sized oval loaf and the round bread with crusty texture for the the palm-sized breadbasket",
+    "Simultaneously grab the small golden brown bread and the small golden baked bread using the left arm, then drop them in the breadbasket shaped like a bowl.",
+    "Take the brown loaf and the round bread with crusty texture together and place them into the round breadbasket.",
+    "Shift the bread with warm golden color and the soft doughy bread together to the breadbasket shaped like a bowl.",
+    "Take the smooth loaf with rounded edges and the small bread then place in the breadbasket with flat base.",
+    "Move the soft brown bread and the golden brown bread to the round breadbasket",
+    "Move the bread with golden-brown crust and the round bread with crusty texture at once into the breadbasket made of woven wood.",
+    "Pick up both the bread with split top and the round bread with braided top, then place them in the wooden breadbasket.",
+    "Put the bread with warm golden color and the bread with golden crust into the breadbasket for dough using two arms.",
+    "Grab both the small golden brown bread and the soft golden bread, drop into the breadbasket with flat base.",
+    "Grab the light brown loaf with smooth sides and the smooth crusty small bread quickly and drop them into the spiral ridged breadbasket.",
+    "Pick the brown loaf and the soft doughy bread and set them in the round breadbasket.",
+    "Take the golden bread loaf and the small golden baked bread to the breadbasket with flat base",
+    "Grab both the golden bread loaf and the braided bread loaf with the left arm and place in the breadbasket with spiral lines.",
+    "Take the bread with warm golden color and the round bread with braided top, place them inside the breadbasket shaped like a bowl.",
+    "Simultaneously grab the light brown bread with ridges and the bread with golden crust, drop in the smooth beige breadbasket.",
+    "Use both arms to move the bread with golden-brown crust, the golden brown bread with braided design to the round breadbasket.",
+    "Lift the bread with golden-brown crust and the golden brown bread with braided design with two arms, put in the breadbasket with flat base.",
+    "Shift the hand-sized oval loaf and the small golden baked bread into the spiral ridged breadbasket",
+    "Use two arms and set the bread with split top, the soft golden bread in the breadbasket for baking.",
+    "Lift the hand-sized oval loaf and the round bread with crusty texture at once with the left arm, then set them in the breadbasket made of woven wood.",
+    "Grab two breads the light brown loaf with smooth sides and the soft doughy bread and place in the breadbasket made of woven wood.",
+    "Simultaneously use the left arm to drop the hand-sized oval loaf and the braided bread loaf in the breadbasket for baking.",
+    "Pick the brown loaf and the braided bread loaf, place them in the palm-sized breadbasket.",
+    "Use the left arm to place the light brown loaf with smooth sides and the braided bread loaf into the round breadbasket.",
+    "Place the light brown loaf with smooth sides and the soft golden bread in the breadbasket shaped like a bowl using the left arm",
+    "Pick the hand-sized oval loaf and the bread with golden crust for the the medium breadbasket",
+    "Simultaneously grab the hand-sized oval loaf and the golden brown bread with braided design using the left arm, then drop them in the breadbasket with flat base.",
+    "Take the hand-sized oval loaf and the golden brown bread together and place them into the medium breadbasket.",
+    "Shift the smooth loaf with rounded edges and the small golden baked bread together to the smooth beige breadbasket.",
+    "Take the light brown bread with ridges and the soft doughy bread then place in the palm-sized breadbasket.",
+    "Move the light brown loaf with smooth sides and the golden bread loaf with soft inside to the breadbasket with flat base",
+    "Move the small golden brown bread and the soft doughy bread at once into the palm-sized breadbasket.",
+    "Pick up both the small loaf with curved top and the golden bread loaf with soft inside, then place them in the round breadbasket.",
+    "Put the bread with split top and the small golden baked bread into the medium breadbasket using two arms.",
+    "Grab both the bread with golden-brown crust and the golden bread loaf with soft inside, drop into the breadbasket with spiral lines.",
+    "Grab the golden bread loaf and the round bread with braided top quickly and drop them into the spiral ridged breadbasket.",
+    "Pick the bread with split top and the round bread with braided top and set them in the smooth beige breadbasket.",
+    "Take the smooth loaf with rounded edges and the smooth crusty small bread to the breadbasket with flat base"
+  ],
+  "unseen": [
+    "Pick the rounded oval bread and the palm-sized braided golden bread and place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the round braided loaf and drop them into the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the palm-sized braided golden bread and put them in the round beige breadbasket.",
+    "Use the left arm to pick up the oval-shaped soft bread and the round braided loaf, then place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread with two arms, place in the light wooden breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the round braided loaf and place in the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the palm-sized braided golden bread, drop in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the round braided loaf and drop it into the light wooden breadbasket.",
+    "Place the rounded oval bread and the round braided loaf into the beige breadbasket using the left arm",
+    "Pick the oval-shaped soft bread and the palm-sized braided golden bread and place them in the round beige breadbasket.",
+    "Grab the oval bread and the round braided loaf and drop them into the beige breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread and put them in the light wooden breadbasket.",
+    "Use the left arm to pick up the oval-shaped soft bread and the palm-sized braided golden bread, then place them in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread with two arms, place in the light wooden breadbasket.",
+    "Use the left arm to pick the oval bread and the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Use one arm to grab the oval bread and the braided top round bread, drop in the beige breadbasket.",
+    "Grab the oval bread and the braided top round bread and drop it into the round beige breadbasket.",
+    "Place the oval bread and the braided top round bread into the beige breadbasket using the left arm",
+    "Pick the oval-shaped soft bread and the braided top round bread and place them in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the round braided loaf and drop them into the beige breadbasket.",
+    "Grab the rounded oval bread and the braided top round bread and put them in the beige breadbasket.",
+    "Use the left arm to pick up the oval bread and the palm-sized braided golden bread, then place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the round braided loaf with two arms, place in the light wooden breadbasket.",
+    "Use the left arm to pick the rounded oval bread and the braided top round bread and place in the light wooden breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the round braided loaf, drop in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and drop it into the round beige breadbasket.",
+    "Place the oval-shaped soft bread and the braided top round bread into the light wooden breadbasket using the left arm",
+    "Pick the oval bread and the round braided loaf and place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and drop them into the round beige breadbasket.",
+    "Grab the rounded oval bread and the round braided loaf and put them in the round beige breadbasket.",
+    "Use the left arm to pick up the oval bread and the braided top round bread, then place them in the light wooden breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread with two arms, place in the round beige breadbasket.",
+    "Use the left arm to pick the rounded oval bread and the braided top round bread and place in the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the palm-sized braided golden bread, drop in the round beige breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread and drop it into the beige breadbasket.",
+    "Place the oval-shaped soft bread and the palm-sized braided golden bread into the round beige breadbasket using the left arm",
+    "Pick the oval-shaped soft bread and the round braided loaf and place them in the round beige breadbasket.",
+    "Grab the oval bread and the braided top round bread and drop them into the beige breadbasket.",
+    "Grab the oval bread and the braided top round bread and put them in the beige breadbasket.",
+    "Use the left arm to pick up the rounded oval bread and the palm-sized braided golden bread, then place them in the round beige breadbasket.",
+    "Grab the oval bread and the braided top round bread with two arms, place in the beige breadbasket.",
+    "Use the left arm to pick the rounded oval bread and the palm-sized braided golden bread and place in the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the round braided loaf, drop in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and drop it into the light wooden breadbasket.",
+    "Place the rounded oval bread and the round braided loaf into the light wooden breadbasket using the left arm",
+    "Pick the oval-shaped soft bread and the braided top round bread and place them in the beige breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread and drop them into the light wooden breadbasket.",
+    "Grab the rounded oval bread and the braided top round bread and put them in the round beige breadbasket.",
+    "Use the left arm to pick up the oval bread and the braided top round bread, then place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the round braided loaf with two arms, place in the light wooden breadbasket.",
+    "Use the left arm to pick the oval bread and the round braided loaf and place in the beige breadbasket.",
+    "Use one arm to grab the oval bread and the round braided loaf, drop in the light wooden breadbasket.",
+    "Grab the oval bread and the round braided loaf and drop it into the round beige breadbasket.",
+    "Place the rounded oval bread and the palm-sized braided golden bread into the round beige breadbasket using the left arm",
+    "Pick the oval bread and the round braided loaf and place them in the round beige breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread and drop them into the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and put them in the light wooden breadbasket.",
+    "Use the left arm to pick up the oval-shaped soft bread and the palm-sized braided golden bread, then place them in the beige breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread with two arms, place in the round beige breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the palm-sized braided golden bread and place in the beige breadbasket.",
+    "Use one arm to grab the oval bread and the braided top round bread, drop in the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the round braided loaf and drop it into the light wooden breadbasket.",
+    "Place the oval-shaped soft bread and the round braided loaf into the round beige breadbasket using the left arm",
+    "Pick the oval bread and the palm-sized braided golden bread and place them in the light wooden breadbasket.",
+    "Grab the oval bread and the round braided loaf and drop them into the light wooden breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread and put them in the round beige breadbasket.",
+    "Use the left arm to pick up the oval-shaped soft bread and the round braided loaf, then place them in the round beige breadbasket.",
+    "Grab the rounded oval bread and the braided top round bread with two arms, place in the round beige breadbasket.",
+    "Use the left arm to pick the rounded oval bread and the braided top round bread and place in the round beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the braided top round bread, drop in the light wooden breadbasket.",
+    "Grab the oval bread and the braided top round bread and drop it into the round beige breadbasket.",
+    "Place the oval bread and the braided top round bread into the beige breadbasket using the left arm",
+    "Pick the rounded oval bread and the braided top round bread and place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread and drop them into the light wooden breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread and put them in the light wooden breadbasket.",
+    "Use the left arm to pick up the oval bread and the palm-sized braided golden bread, then place them in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread with two arms, place in the round beige breadbasket.",
+    "Use the left arm to pick the rounded oval bread and the round braided loaf and place in the light wooden breadbasket.",
+    "Use one arm to grab the oval bread and the palm-sized braided golden bread, drop in the round beige breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread and drop it into the round beige breadbasket.",
+    "Place the rounded oval bread and the braided top round bread into the light wooden breadbasket using the left arm",
+    "Pick the oval bread and the braided top round bread and place them in the round beige breadbasket.",
+    "Grab the oval bread and the round braided loaf and drop them into the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and the palm-sized braided golden bread and put them in the round beige breadbasket.",
+    "Use the left arm to pick up the oval bread and the round braided loaf, then place them in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread with two arms, place in the beige breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Use one arm to grab the oval bread and the round braided loaf, drop in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and drop it into the light wooden breadbasket.",
+    "Place the oval-shaped soft bread and the braided top round bread into the beige breadbasket using the left arm",
+    "Pick the rounded oval bread and the round braided loaf and place them in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and the palm-sized braided golden bread and drop them into the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and put them in the round beige breadbasket.",
+    "Use the left arm to pick up the oval-shaped soft bread and the round braided loaf, then place them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the palm-sized braided golden bread with two arms, place in the beige breadbasket.",
+    "Use the left arm to pick the rounded oval bread and the round braided loaf and place in the light wooden breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the braided top round bread, drop in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread and drop it into the beige breadbasket.",
+    "Place the oval-shaped soft bread and the round braided loaf into the light wooden breadbasket using the left arm",
+    "Pick the oval-shaped soft bread and the braided top round bread and place them in the round beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode3.json b/place_bread_basket/demo_randomized/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..80cfe10c37d644786e1bb8972d93254d062fdbbc
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab two breads the square loaf of bread and the small bread and place in the breadbasket with curved base.",
+    "Simultaneously grab the square loaf of bread and the small golden baked bread using the dual arm, then drop them in the light brown breadbasket.",
+    "Shift the square loaf of bread and the round bread with braided top together to the woven plastic breadbasket.",
+    "Place the square loaf of bread and the small bread in the smooth-textured breadbasket using the dual arm",
+    "Take the soft golden baked bread and the round bread with crusty texture to the synthetic material breadbasket",
+    "Grab the brown bread loaf and the braided bread loaf quickly and drop them into the woven plastic breadbasket.",
+    "Move the rectangular bread soft inside and the small bread at once into the medium oval breadbasket.",
+    "Pick the slice-shaped bread and the round bread with crusty texture and set them in the breadbasket with curved base.",
+    "Use both arms to move the golden bread, the round bread with crusty texture to the basket with light brown weaving.",
+    "Lift the square loaf of bread and the small bread at once with the dual arm, then set them in the beige basket for holding bread.",
+    "Pick the golden crusted bread slice and the round bread with braided top, place them in the beige basket for holding bread.",
+    "Lift the bread with golden surface color and the small bread with two arms, put in the breadbasket for small food items.",
+    "Pick the golden bread and the golden brown bread with braided design for the the woven plastic breadbasket",
+    "Grab both the slice-shaped bread and the bread with golden crust, drop into the basket with light brown weaving.",
+    "Grab both the bread with golden surface color and the braided bread loaf with the dual arm and place in the oval basket for bread.",
+    "Pick up both the slice-shaped bread and the bread with golden crust, then place them in the oval breadbasket.",
+    "Simultaneously grab the square loaf of bread and the small golden baked bread, drop in the oval basket for bread.",
+    "Shift the square loaf of bread and the small golden baked bread into the basket with light brown weaving",
+    "Take the golden crusted bread slice and the small bread, place them inside the medium oval breadbasket.",
+    "Simultaneously use the dual arm to drop the bread loaf with square shape and the golden brown bread with braided design in the woven plastic breadbasket.",
+    "Take the golden bread and the round bread with braided top together and place them into the beige basket for holding bread.",
+    "Use the dual arm to place the square loaf of bread and the round bread with crusty texture into the oval breadbasket.",
+    "Move the bread with golden surface color and the golden brown bread to the breadbasket for small food items",
+    "Put the brown bread loaf and the round bread with braided top into the breadbasket with curved base using two arms.",
+    "Take the soft golden baked bread and the golden brown bread with braided design then place in the breadbasket with curved base.",
+    "Use two arms and set the golden brown loaf-shaped bread, the small bread in the breadbasket with curved base.",
+    "Grab two breads the soft golden baked bread and the small golden baked bread and place in the two-hand-sized breadbasket.",
+    "Simultaneously grab the golden bread and the soft golden bread using the dual arm, then drop them in the breadbasket with curved base.",
+    "Shift the bread loaf with square shape and the round bread with braided top together to the breadbasket with curved base.",
+    "Place the golden crusted bread slice and the round bread with crusty texture in the oval breadbasket using the dual arm",
+    "Take the golden brown loaf-shaped bread and the bread with golden crust to the medium oval breadbasket",
+    "Grab the bread with rounded corners and the golden brown bread quickly and drop them into the breadbasket for small food items.",
+    "Move the bread loaf with square shape and the round bread with braided top at once into the woven plastic breadbasket.",
+    "Pick the bread loaf with square shape and the golden bread loaf with soft inside and set them in the breadbasket with curved base.",
+    "Use both arms to move the bread loaf with square shape, the soft doughy bread to the two-hand-sized breadbasket.",
+    "Lift the bread with firm crust edges and the small golden baked bread at once with the dual arm, then set them in the breadbasket with curved base.",
+    "Pick the square loaf of bread and the small bread, place them in the beige basket for holding bread.",
+    "Lift the slice-shaped bread and the golden brown bread with braided design with two arms, put in the light brown breadbasket.",
+    "Pick the square loaf of bread and the round bread with braided top for the the oval basket for bread",
+    "Grab both the bread loaf with square shape and the golden brown bread, drop into the medium oval breadbasket.",
+    "Grab both the bread loaf with square shape and the round bread with crusty texture with the dual arm and place in the oval basket for bread.",
+    "Pick up both the bread with rounded corners and the small golden baked bread, then place them in the breadbasket with curved base.",
+    "Simultaneously grab the golden crusted bread slice and the round bread with braided top, drop in the basket with light brown weaving.",
+    "Shift the square loaf of bread and the soft golden bread into the synthetic material breadbasket",
+    "Take the golden bread and the round bread with crusty texture, place them inside the synthetic material breadbasket.",
+    "Simultaneously use the dual arm to drop the golden brown loaf-shaped bread and the round bread with crusty texture in the synthetic material breadbasket.",
+    "Take the soft golden baked bread and the golden brown bread with braided design together and place them into the beige basket for holding bread.",
+    "Use the dual arm to place the bread with firm crust edges and the golden brown bread into the synthetic material breadbasket.",
+    "Move the bread with golden surface color and the soft golden bread to the synthetic material breadbasket",
+    "Put the slice-shaped bread and the soft golden bread into the oval breadbasket using two arms.",
+    "Take the rectangular bread soft inside and the golden bread loaf with soft inside then place in the two-hand-sized breadbasket.",
+    "Use two arms and set the slice-shaped bread, the smooth crusty small bread in the light brown breadbasket.",
+    "Grab two breads the golden bread and the golden brown bread and place in the synthetic material breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the round bread with braided top using the dual arm, then drop them in the synthetic material breadbasket.",
+    "Shift the square loaf of bread and the braided bread loaf together to the woven plastic breadbasket.",
+    "Place the slice-shaped bread and the soft golden bread in the synthetic material breadbasket using the dual arm",
+    "Take the bread with firm crust edges and the small bread to the oval basket for bread",
+    "Grab the golden brown loaf-shaped bread and the bread with golden crust quickly and drop them into the oval basket for bread.",
+    "Move the brown bread loaf and the golden bread loaf with soft inside at once into the basket with light brown weaving.",
+    "Pick the golden crusted bread slice and the golden brown bread and set them in the breadbasket for small food items.",
+    "Use both arms to move the bread with firm crust edges, the golden brown bread with braided design to the breadbasket with curved base.",
+    "Lift the brown bread loaf and the golden brown bread at once with the dual arm, then set them in the light brown breadbasket.",
+    "Pick the rectangular bread soft inside and the smooth crusty small bread, place them in the basket with light brown weaving.",
+    "Lift the brown bread loaf and the round bread with braided top with two arms, put in the synthetic material breadbasket.",
+    "Pick the bread with firm crust edges and the small golden baked bread for the the breadbasket with curved base",
+    "Grab both the brown bread loaf and the small bread, drop into the smooth-textured breadbasket.",
+    "Grab both the bread with firm crust edges and the round bread with braided top with the dual arm and place in the smooth-textured breadbasket.",
+    "Pick up both the slice-shaped bread and the golden brown bread with braided design, then place them in the synthetic material breadbasket.",
+    "Simultaneously grab the bread with golden surface color and the small bread, drop in the light brown breadbasket.",
+    "Shift the rectangular bread soft inside and the soft golden bread into the two-hand-sized breadbasket",
+    "Take the bread loaf with square shape and the soft golden bread, place them inside the woven plastic breadbasket.",
+    "Simultaneously use the dual arm to drop the golden crusted bread slice and the braided bread loaf in the synthetic material breadbasket.",
+    "Take the golden crusted bread slice and the bread with golden crust together and place them into the medium oval breadbasket.",
+    "Use the dual arm to place the golden brown loaf-shaped bread and the golden brown bread into the beige basket for holding bread.",
+    "Move the golden brown loaf-shaped bread and the golden brown bread to the breadbasket for small food items",
+    "Put the square loaf of bread and the round bread with braided top into the medium oval breadbasket using two arms.",
+    "Take the golden crusted bread slice and the smooth crusty small bread then place in the synthetic material breadbasket.",
+    "Use two arms and set the bread with firm crust edges, the golden brown bread in the oval breadbasket.",
+    "Grab two breads the golden brown loaf-shaped bread and the smooth crusty small bread and place in the two-hand-sized breadbasket.",
+    "Simultaneously grab the brown bread loaf and the round bread with crusty texture using the dual arm, then drop them in the breadbasket for small food items.",
+    "Shift the brown bread loaf and the small bread together to the breadbasket with curved base.",
+    "Place the bread with rounded corners and the golden bread loaf with soft inside in the two-hand-sized breadbasket using the dual arm",
+    "Take the soft golden baked bread and the soft doughy bread to the breadbasket for small food items",
+    "Grab the golden brown loaf-shaped bread and the small bread quickly and drop them into the basket with light brown weaving.",
+    "Move the rectangular bread soft inside and the small bread at once into the breadbasket for small food items.",
+    "Pick the soft golden baked bread and the small golden baked bread and set them in the oval breadbasket.",
+    "Use both arms to move the golden crusted bread slice, the golden brown bread to the two-hand-sized breadbasket.",
+    "Lift the golden brown loaf-shaped bread and the golden brown bread with braided design at once with the dual arm, then set them in the oval breadbasket.",
+    "Pick the bread with rounded corners and the bread with golden crust, place them in the oval basket for bread.",
+    "Lift the soft golden baked bread and the bread with golden crust with two arms, put in the oval basket for bread.",
+    "Pick the square loaf of bread and the soft doughy bread for the the oval basket for bread",
+    "Grab both the golden brown loaf-shaped bread and the round bread with crusty texture, drop into the light brown breadbasket.",
+    "Grab both the slice-shaped bread and the small golden baked bread with the dual arm and place in the oval breadbasket.",
+    "Pick up both the brown bread loaf and the soft doughy bread, then place them in the oval basket for bread.",
+    "Simultaneously grab the bread with firm crust edges and the soft doughy bread, drop in the oval breadbasket.",
+    "Shift the golden crusted bread slice and the golden brown bread with braided design into the oval breadbasket",
+    "Take the bread with firm crust edges and the golden brown bread, place them inside the smooth-textured breadbasket.",
+    "Simultaneously use the dual arm to drop the rectangular bread soft inside and the braided bread loaf in the beige basket for holding bread.",
+    "Take the golden crusted bread slice and the braided bread loaf together and place them into the beige basket for holding bread.",
+    "Use the dual arm to place the slice-shaped bread and the golden brown bread into the oval basket for bread."
+  ],
+  "unseen": [
+    "Grab the small loaf-shaped bread and the round braided loaf with two arms, place in the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf and the palm-sized braided golden bread into the beige breadbasket using the dual arm",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the round braided loaf, then place them in the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the round braided loaf, drop in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the round braided loaf and place them in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the round braided loaf and put them in the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the round braided loaf and place in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread with two arms, place in the medium-sized breadbasket.",
+    "Place the bread loaf medium-sized and the palm-sized braided golden bread into the beige breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop it into the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the round braided loaf, then place them in the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the braided top round bread, drop in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the palm-sized braided golden bread and place them in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the round braided loaf and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the round braided loaf and place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the braided top round bread with two arms, place in the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf and the braided top round bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop it into the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the braided top round bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the round braided loaf, drop in the medium-sized breadbasket.",
+    "Pick the small loaf-shaped bread and the round braided loaf and place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the round braided loaf and put them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the round braided loaf and place in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the braided top round bread with two arms, place in the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf and the palm-sized braided golden bread into the beige breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop it into the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the palm-sized braided golden bread, then place them in the medium-sized breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the round braided loaf, drop in the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and the braided top round bread and place them in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the braided top round bread and place in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread with two arms, place in the beige breadbasket.",
+    "Place the small loaf-shaped bread and the braided top round bread into the beige breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the braided top round bread and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the braided top round bread, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the palm-sized braided golden bread, drop in the medium-sized breadbasket.",
+    "Pick the bread loaf medium-sized and the palm-sized braided golden bread and place them in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the palm-sized braided golden bread and place in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the round braided loaf with two arms, place in the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the braided top round bread into the beige breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the braided top round bread and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the palm-sized braided golden bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the braided top round bread, drop in the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the braided top round bread and place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the round braided loaf and put them in the beige breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the round braided loaf and place in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the braided top round bread with two arms, place in the beige breadbasket.",
+    "Place the bread loaf medium-sized and the palm-sized braided golden bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the soft rectangular bread loaf and the braided top round bread and drop it into the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the round braided loaf, then place them in the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the round braided loaf, drop in the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the palm-sized braided golden bread and place them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the palm-sized braided golden bread and place in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the round braided loaf with two arms, place in the beige breadbasket.",
+    "Place the soft rectangular bread loaf and the palm-sized braided golden bread into the beige breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop it into the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the palm-sized braided golden bread and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the palm-sized braided golden bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the braided top round bread, drop in the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and the round braided loaf and place them in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the braided top round bread and place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread with two arms, place in the breadbasket with ridged texture.",
+    "Place the bread loaf medium-sized and the braided top round bread into the medium-sized breadbasket using the dual arm",
+    "Grab the soft rectangular bread loaf and the braided top round bread and drop it into the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the braided top round bread, then place them in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the braided top round bread, drop in the medium-sized breadbasket.",
+    "Pick the small loaf-shaped bread and the round braided loaf and place them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the round braided loaf and put them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the small loaf-shaped bread and the palm-sized braided golden bread and place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the palm-sized braided golden bread with two arms, place in the medium-sized breadbasket.",
+    "Place the soft rectangular bread loaf and the palm-sized braided golden bread into the medium-sized breadbasket using the dual arm",
+    "Grab the soft rectangular bread loaf and the round braided loaf and drop it into the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the braided top round bread and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the braided top round bread, then place them in the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the braided top round bread, drop in the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and the round braided loaf and place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and put them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the bread loaf medium-sized and the round braided loaf and place in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the braided top round bread with two arms, place in the medium-sized breadbasket.",
+    "Place the bread loaf medium-sized and the braided top round bread into the medium-sized breadbasket using the dual arm",
+    "Grab the small loaf-shaped bread and the round braided loaf and drop it into the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the round braided loaf and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the round braided loaf, then place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf medium-sized and the round braided loaf, drop in the beige breadbasket.",
+    "Pick the small loaf-shaped bread and the palm-sized braided golden bread and place them in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the palm-sized braided golden bread and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the palm-sized braided golden bread and place in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the round braided loaf with two arms, place in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode30.json b/place_bread_basket/demo_randomized/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..d237fc8111cb0e1e25ca196411da42b1b7c244de
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simultaneously use the dual arm to drop the golden bread loaf with soft inside and the brown bread loaf in the breadbasket with spiral lines.",
+    "Use both arms to move the soft golden bread, the rectangular bread soft inside to the round breadbasket.",
+    "Simultaneously grab the round bread with braided top and the bread with golden surface color, drop in the breadbasket with spiral lines.",
+    "Grab both the small bread and the golden bread with the dual arm and place in the wooden breadbasket.",
+    "Place the round bread with braided top and the bread loaf with square shape in the breadbasket made of woven wood using the dual arm",
+    "Take the bread with golden crust and the bread with golden surface color together and place them into the breadbasket for dough.",
+    "Grab two breads the smooth crusty small bread and the bread with golden surface color and place in the spiral ridged breadbasket.",
+    "Shift the smooth crusty small bread and the golden brown loaf-shaped bread into the palm-sized breadbasket",
+    "Pick the golden brown bread with braided design and the golden crusted bread slice for the the wooden breadbasket",
+    "Take the golden brown bread and the bread with rounded corners, place them inside the smooth beige breadbasket.",
+    "Use the dual arm to place the smooth crusty small bread and the bread with golden surface color into the medium breadbasket.",
+    "Lift the soft doughy bread and the bread with rounded corners at once with the dual arm, then set them in the breadbasket with spiral lines.",
+    "Use two arms and set the braided bread loaf, the bread loaf with square shape in the breadbasket made of woven wood.",
+    "Grab the bread with golden crust and the brown bread loaf quickly and drop them into the breadbasket with spiral lines.",
+    "Pick the golden brown bread and the rectangular bread soft inside, place them in the breadbasket for baking.",
+    "Take the small golden baked bread and the golden bread then place in the palm-sized breadbasket.",
+    "Take the round bread with braided top and the square loaf of bread to the spiral ridged breadbasket",
+    "Move the golden brown bread with braided design and the square loaf of bread to the breadbasket made of woven wood",
+    "Simultaneously grab the bread with golden crust and the rectangular bread soft inside using the dual arm, then drop them in the round breadbasket.",
+    "Grab both the smooth crusty small bread and the brown bread loaf, drop into the breadbasket with flat base.",
+    "Shift the smooth crusty small bread and the bread loaf with square shape together to the breadbasket for dough.",
+    "Pick the braided bread loaf and the bread loaf with square shape and set them in the round breadbasket.",
+    "Lift the bread with golden crust and the rectangular bread soft inside with two arms, put in the spiral ridged breadbasket.",
+    "Pick up both the round bread with braided top and the bread with rounded corners, then place them in the breadbasket made of woven wood.",
+    "Put the golden brown bread and the bread loaf with square shape into the breadbasket shaped like a bowl using two arms.",
+    "Move the small bread and the soft golden baked bread at once into the smooth beige breadbasket.",
+    "Simultaneously use the dual arm to drop the round bread with braided top and the rectangular bread soft inside in the spiral ridged breadbasket.",
+    "Use both arms to move the braided bread loaf, the golden brown loaf-shaped bread to the smooth beige breadbasket.",
+    "Simultaneously grab the soft doughy bread and the golden bread, drop in the breadbasket for dough.",
+    "Grab both the golden brown bread and the golden bread with the dual arm and place in the breadbasket for dough.",
+    "Place the soft golden bread and the golden brown loaf-shaped bread in the smooth beige breadbasket using the dual arm",
+    "Take the bread with golden crust and the golden bread together and place them into the smooth beige breadbasket.",
+    "Grab two breads the round bread with crusty texture and the square loaf of bread and place in the medium breadbasket.",
+    "Shift the soft doughy bread and the rectangular bread soft inside into the wooden breadbasket",
+    "Pick the smooth crusty small bread and the brown bread loaf for the the breadbasket shaped like a bowl",
+    "Take the braided bread loaf and the slice-shaped bread, place them inside the medium breadbasket.",
+    "Use the dual arm to place the bread with golden crust and the square loaf of bread into the smooth beige breadbasket.",
+    "Lift the small golden baked bread and the bread loaf with square shape at once with the dual arm, then set them in the round breadbasket.",
+    "Use two arms and set the braided bread loaf, the bread with firm crust edges in the breadbasket shaped like a bowl.",
+    "Grab the golden brown bread and the bread with rounded corners quickly and drop them into the smooth beige breadbasket.",
+    "Pick the small golden baked bread and the golden crusted bread slice, place them in the medium breadbasket.",
+    "Take the round bread with braided top and the square loaf of bread then place in the wooden breadbasket.",
+    "Take the golden bread loaf with soft inside and the soft golden baked bread to the breadbasket with spiral lines",
+    "Move the soft doughy bread and the golden brown loaf-shaped bread to the round breadbasket",
+    "Simultaneously grab the small bread and the bread with rounded corners using the dual arm, then drop them in the breadbasket for baking.",
+    "Grab both the bread with golden crust and the bread with firm crust edges, drop into the round breadbasket.",
+    "Shift the small bread and the golden brown loaf-shaped bread together to the palm-sized breadbasket.",
+    "Pick the small golden baked bread and the brown bread loaf and set them in the breadbasket with spiral lines.",
+    "Lift the round bread with braided top and the bread with firm crust edges with two arms, put in the breadbasket with flat base.",
+    "Pick up both the golden brown bread with braided design and the bread with firm crust edges, then place them in the palm-sized breadbasket.",
+    "Put the small bread and the golden brown loaf-shaped bread into the palm-sized breadbasket using two arms.",
+    "Move the bread with golden crust and the bread with golden surface color at once into the breadbasket with flat base.",
+    "Simultaneously use the dual arm to drop the round bread with crusty texture and the golden crusted bread slice in the smooth beige breadbasket.",
+    "Use both arms to move the braided bread loaf, the bread loaf with square shape to the breadbasket made of woven wood.",
+    "Simultaneously grab the braided bread loaf and the golden crusted bread slice, drop in the palm-sized breadbasket.",
+    "Grab both the small golden baked bread and the golden brown loaf-shaped bread with the dual arm and place in the breadbasket for baking.",
+    "Place the soft golden bread and the square loaf of bread in the spiral ridged breadbasket using the dual arm",
+    "Take the round bread with braided top and the golden crusted bread slice together and place them into the wooden breadbasket.",
+    "Grab two breads the golden brown bread and the bread loaf with square shape and place in the breadbasket for baking.",
+    "Shift the round bread with crusty texture and the bread with rounded corners into the smooth beige breadbasket",
+    "Pick the round bread with crusty texture and the bread loaf with square shape for the the smooth beige breadbasket",
+    "Take the soft doughy bread and the bread with rounded corners, place them inside the round breadbasket.",
+    "Use the dual arm to place the soft doughy bread and the golden bread into the round breadbasket.",
+    "Lift the bread with golden crust and the soft golden baked bread at once with the dual arm, then set them in the breadbasket made of woven wood.",
+    "Use two arms and set the soft golden bread, the rectangular bread soft inside in the palm-sized breadbasket.",
+    "Grab the bread with golden crust and the bread with firm crust edges quickly and drop them into the breadbasket for dough.",
+    "Pick the small bread and the soft golden baked bread, place them in the breadbasket with spiral lines.",
+    "Take the small golden baked bread and the slice-shaped bread then place in the smooth beige breadbasket.",
+    "Take the braided bread loaf and the golden brown loaf-shaped bread to the spiral ridged breadbasket",
+    "Move the bread with golden crust and the soft golden baked bread to the medium breadbasket",
+    "Simultaneously grab the soft golden bread and the golden brown loaf-shaped bread using the dual arm, then drop them in the breadbasket with spiral lines.",
+    "Grab both the small bread and the golden bread, drop into the round breadbasket.",
+    "Shift the golden brown bread and the bread with firm crust edges together to the breadbasket with spiral lines.",
+    "Pick the soft doughy bread and the slice-shaped bread and set them in the smooth beige breadbasket.",
+    "Lift the round bread with crusty texture and the brown bread loaf with two arms, put in the smooth beige breadbasket.",
+    "Pick up both the bread with golden crust and the rectangular bread soft inside, then place them in the wooden breadbasket.",
+    "Put the golden brown bread and the square loaf of bread into the smooth beige breadbasket using two arms.",
+    "Move the soft golden bread and the golden brown loaf-shaped bread at once into the smooth beige breadbasket.",
+    "Simultaneously use the dual arm to drop the golden brown bread with braided design and the slice-shaped bread in the breadbasket made of woven wood.",
+    "Use both arms to move the smooth crusty small bread, the rectangular bread soft inside to the breadbasket made of woven wood.",
+    "Simultaneously grab the golden bread loaf with soft inside and the bread loaf with square shape, drop in the breadbasket shaped like a bowl.",
+    "Grab both the smooth crusty small bread and the bread loaf with square shape with the dual arm and place in the medium breadbasket.",
+    "Place the golden brown bread with braided design and the golden crusted bread slice in the breadbasket shaped like a bowl using the dual arm",
+    "Take the golden brown bread with braided design and the golden bread together and place them into the breadbasket for baking.",
+    "Grab two breads the soft golden bread and the slice-shaped bread and place in the spiral ridged breadbasket.",
+    "Shift the small bread and the golden brown loaf-shaped bread into the breadbasket for baking",
+    "Pick the soft doughy bread and the slice-shaped bread for the the breadbasket with spiral lines",
+    "Take the golden bread loaf with soft inside and the square loaf of bread, place them inside the breadbasket for baking.",
+    "Use the dual arm to place the soft doughy bread and the bread with firm crust edges into the breadbasket for baking.",
+    "Lift the small golden baked bread and the slice-shaped bread at once with the dual arm, then set them in the palm-sized breadbasket.",
+    "Use two arms and set the soft doughy bread, the golden bread in the smooth beige breadbasket.",
+    "Grab the small bread and the brown bread loaf quickly and drop them into the breadbasket with flat base.",
+    "Pick the braided bread loaf and the bread with firm crust edges, place them in the breadbasket shaped like a bowl.",
+    "Take the golden brown bread with braided design and the brown bread loaf then place in the breadbasket with flat base.",
+    "Take the smooth crusty small bread and the soft golden baked bread to the breadbasket for dough",
+    "Move the bread with golden crust and the bread with firm crust edges to the breadbasket shaped like a bowl",
+    "Simultaneously grab the braided bread loaf and the golden bread using the dual arm, then drop them in the breadbasket made of woven wood.",
+    "Grab both the smooth crusty small bread and the bread with firm crust edges, drop into the breadbasket for baking.",
+    "Shift the soft doughy bread and the bread with firm crust edges together to the smooth beige breadbasket.",
+    "Pick the small bread and the bread with golden surface color and set them in the round breadbasket."
+  ],
+  "unseen": [
+    "Pick the palm-sized braided golden bread and the soft rectangular bread loaf and place them in the round beige breadbasket.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and put them in the round beige breadbasket.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop it into the round beige breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the small loaf-shaped bread, then place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and drop them into the beige breadbasket.",
+    "Place the palm-sized braided golden bread and the soft rectangular bread loaf into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick the round braided loaf and the bread loaf medium-sized and place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Pick the braided top round bread and the bread loaf medium-sized and place them in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and put them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized and drop it into the light wooden breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the bread loaf medium-sized, then place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the small loaf-shaped bread and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the bread loaf medium-sized into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick the palm-sized braided golden bread and the soft rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the round braided loaf and the bread loaf medium-sized with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the small loaf-shaped bread, drop in the round beige breadbasket.",
+    "Pick the braided top round bread and the small loaf-shaped bread and place them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and put them in the round beige breadbasket.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the soft rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop them into the light wooden breadbasket.",
+    "Place the braided top round bread and the small loaf-shaped bread into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick the braided top round bread and the soft rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the small loaf-shaped bread, drop in the light wooden breadbasket.",
+    "Pick the palm-sized braided golden bread and the small loaf-shaped bread and place them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop it into the round beige breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the small loaf-shaped bread, then place them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop them into the light wooden breadbasket.",
+    "Place the braided top round bread and the small loaf-shaped bread into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick the braided top round bread and the small loaf-shaped bread and place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft rectangular bread loaf with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the round braided loaf and the soft rectangular bread loaf, drop in the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the round braided loaf and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the small loaf-shaped bread, then place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and drop them into the round beige breadbasket.",
+    "Place the round braided loaf and the bread loaf medium-sized into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick the round braided loaf and the soft rectangular bread loaf and place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft rectangular bread loaf with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread loaf medium-sized, drop in the light wooden breadbasket.",
+    "Pick the palm-sized braided golden bread and the soft rectangular bread loaf and place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and put them in the beige breadbasket.",
+    "Grab the braided top round bread and the small loaf-shaped bread and drop it into the round beige breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the soft rectangular bread loaf, then place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Place the braided top round bread and the bread loaf medium-sized into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick the palm-sized braided golden bread and the small loaf-shaped bread and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the soft rectangular bread loaf, drop in the beige breadbasket.",
+    "Pick the round braided loaf and the bread loaf medium-sized and place them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the small loaf-shaped bread and put them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized and drop it into the light wooden breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the small loaf-shaped bread, then place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and drop them into the beige breadbasket.",
+    "Place the braided top round bread and the soft rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the round braided loaf and the small loaf-shaped bread and place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread loaf medium-sized, drop in the round beige breadbasket.",
+    "Pick the braided top round bread and the soft rectangular bread loaf and place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and put them in the round beige breadbasket.",
+    "Grab the round braided loaf and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the soft rectangular bread loaf, then place them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the bread loaf medium-sized and drop them into the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the soft rectangular bread loaf into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick the palm-sized braided golden bread and the soft rectangular bread loaf and place in the round beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf medium-sized with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the soft rectangular bread loaf and place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the small loaf-shaped bread and put them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and drop it into the round beige breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the small loaf-shaped bread, then place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and drop them into the light wooden breadbasket.",
+    "Place the round braided loaf and the small loaf-shaped bread into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick the braided top round bread and the soft rectangular bread loaf and place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the soft rectangular bread loaf with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the small loaf-shaped bread, drop in the beige breadbasket.",
+    "Pick the braided top round bread and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft rectangular bread loaf and put them in the round beige breadbasket.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and drop it into the round beige breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf medium-sized and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the soft rectangular bread loaf into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick the palm-sized braided golden bread and the soft rectangular bread loaf and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the braided top round bread and the soft rectangular bread loaf, drop in the round beige breadbasket.",
+    "Pick the braided top round bread and the small loaf-shaped bread and place them in the round beige breadbasket.",
+    "Grab the round braided loaf and the soft rectangular bread loaf and put them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the soft rectangular bread loaf, then place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the small loaf-shaped bread and drop them into the round beige breadbasket.",
+    "Place the round braided loaf and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the braided top round bread and the small loaf-shaped bread and place in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread loaf medium-sized, drop in the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and the small loaf-shaped bread and place them in the round beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode31.json b/place_bread_basket/demo_randomized/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b269885e8774edabb13201d8b174a80f0723400
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the medium-sized bread piece and the golden bread for the the basket with light brown weaving",
+    "Simultaneously grab the golden baked bread and the soft golden baked bread using the dual arm, then drop them in the beige basket for holding bread.",
+    "Grab both the rounded square loaf and the soft golden baked bread, drop into the breadbasket with curved base.",
+    "Lift the sponge-textured golden bread and the golden crusted bread slice at once with the dual arm, then set them in the two-hand-sized breadbasket.",
+    "Simultaneously grab the light brown porous bread and the slice-shaped bread, drop in the oval basket for bread.",
+    "Pick up both the golden brown bread and the golden bread, then place them in the breadbasket for small food items.",
+    "Lift the medium-sized bread piece and the square loaf of bread with two arms, put in the woven plastic breadbasket.",
+    "Take the golden baked bread and the rectangular bread soft inside then place in the oval basket for bread.",
+    "Use the dual arm to place the golden baked bread and the square loaf of bread into the smooth-textured breadbasket.",
+    "Pick the fluffy baked bread and the golden bread, place them in the oval basket for bread.",
+    "Grab two breads the soft square bread and the bread with golden surface color and place in the medium oval breadbasket.",
+    "Simultaneously use the dual arm to drop the medium bread with rounded sides and the slice-shaped bread in the light brown breadbasket.",
+    "Move the bread with rounded edges and the bread with golden surface color at once into the smooth-textured breadbasket.",
+    "Grab the sponge-textured golden bread and the bread loaf with square shape quickly and drop them into the oval basket for bread.",
+    "Take the rounded square loaf and the golden crusted bread slice to the synthetic material breadbasket",
+    "Move the golden brown bread and the brown bread loaf to the oval breadbasket",
+    "Shift the light brown porous bread and the bread with rounded corners together to the woven plastic breadbasket.",
+    "Pick the medium bread with rounded sides and the slice-shaped bread and set them in the beige basket for holding bread.",
+    "Use two arms and set the medium-sized bread piece, the bread with rounded corners in the basket with light brown weaving.",
+    "Grab both the sponge-textured golden bread and the bread with firm crust edges with the dual arm and place in the medium oval breadbasket.",
+    "Place the golden baked bread and the bread with golden surface color in the breadbasket with curved base using the dual arm",
+    "Put the square-shaped bread piece and the bread loaf with square shape into the synthetic material breadbasket using two arms.",
+    "Take the golden baked bread and the bread with firm crust edges, place them inside the oval basket for bread.",
+    "Shift the rounded square loaf and the soft golden baked bread into the synthetic material breadbasket",
+    "Take the bread with soft texture and the golden bread together and place them into the two-hand-sized breadbasket.",
+    "Use both arms to move the sponge-textured golden bread, the bread loaf with square shape to the light brown breadbasket.",
+    "Pick the golden brown bread and the bread with firm crust edges for the the breadbasket for small food items",
+    "Simultaneously grab the medium-sized bread piece and the slice-shaped bread using the dual arm, then drop them in the medium oval breadbasket.",
+    "Grab both the fluffy baked bread and the golden crusted bread slice, drop into the medium oval breadbasket.",
+    "Lift the soft square bread and the brown bread loaf at once with the dual arm, then set them in the woven plastic breadbasket.",
+    "Simultaneously grab the medium-sized bread piece and the slice-shaped bread, drop in the breadbasket with curved base.",
+    "Pick up both the soft square bread and the golden crusted bread slice, then place them in the breadbasket with curved base.",
+    "Lift the medium-sized bread piece and the golden brown loaf-shaped bread with two arms, put in the smooth-textured breadbasket.",
+    "Take the bread with rounded edges and the golden brown loaf-shaped bread then place in the breadbasket for small food items.",
+    "Use the dual arm to place the sponge-textured golden bread and the slice-shaped bread into the basket with light brown weaving.",
+    "Pick the golden brown bread and the golden brown loaf-shaped bread, place them in the oval basket for bread.",
+    "Grab two breads the golden baked bread and the square loaf of bread and place in the light brown breadbasket.",
+    "Simultaneously use the dual arm to drop the fluffy baked bread and the soft golden baked bread in the two-hand-sized breadbasket.",
+    "Move the rounded square loaf and the bread loaf with square shape at once into the oval breadbasket.",
+    "Grab the sponge-textured golden bread and the square loaf of bread quickly and drop them into the woven plastic breadbasket.",
+    "Take the medium-sized bread piece and the soft golden baked bread to the basket with light brown weaving",
+    "Move the medium bread with rounded sides and the square loaf of bread to the oval breadbasket",
+    "Shift the golden baked bread and the bread with firm crust edges together to the smooth-textured breadbasket.",
+    "Pick the golden baked bread and the bread with rounded corners and set them in the synthetic material breadbasket.",
+    "Use two arms and set the golden baked bread, the bread with firm crust edges in the medium oval breadbasket.",
+    "Grab both the medium bread with rounded sides and the bread with golden surface color with the dual arm and place in the woven plastic breadbasket.",
+    "Place the sponge-textured golden bread and the square loaf of bread in the beige basket for holding bread using the dual arm",
+    "Put the soft square bread and the golden brown loaf-shaped bread into the breadbasket with curved base using two arms.",
+    "Take the rounded square loaf and the square loaf of bread, place them inside the oval breadbasket.",
+    "Shift the bread with soft texture and the rectangular bread soft inside into the oval basket for bread",
+    "Take the golden baked bread and the bread with firm crust edges together and place them into the medium oval breadbasket.",
+    "Use both arms to move the soft square bread, the bread with rounded corners to the woven plastic breadbasket.",
+    "Pick the square-shaped bread piece and the square loaf of bread for the the smooth-textured breadbasket",
+    "Simultaneously grab the sponge-textured golden bread and the golden crusted bread slice using the dual arm, then drop them in the breadbasket with curved base.",
+    "Grab both the bread with soft texture and the golden brown loaf-shaped bread, drop into the synthetic material breadbasket.",
+    "Lift the medium bread with rounded sides and the bread with golden surface color at once with the dual arm, then set them in the woven plastic breadbasket.",
+    "Simultaneously grab the golden brown bread and the bread with rounded corners, drop in the oval breadbasket.",
+    "Pick up both the fluffy baked bread and the golden brown loaf-shaped bread, then place them in the basket with light brown weaving.",
+    "Lift the rounded square loaf and the soft golden baked bread with two arms, put in the two-hand-sized breadbasket.",
+    "Take the rounded square loaf and the golden brown loaf-shaped bread then place in the breadbasket with curved base.",
+    "Use the dual arm to place the golden baked bread and the bread loaf with square shape into the light brown breadbasket.",
+    "Pick the bread with rounded edges and the bread with golden surface color, place them in the medium oval breadbasket.",
+    "Grab two breads the square-shaped bread piece and the square loaf of bread and place in the medium oval breadbasket.",
+    "Simultaneously use the dual arm to drop the square-shaped bread piece and the bread loaf with square shape in the two-hand-sized breadbasket.",
+    "Move the light brown porous bread and the bread with golden surface color at once into the light brown breadbasket.",
+    "Grab the golden brown bread and the square loaf of bread quickly and drop them into the beige basket for holding bread.",
+    "Take the medium bread with rounded sides and the golden bread to the smooth-textured breadbasket",
+    "Move the soft square bread and the bread with firm crust edges to the oval basket for bread",
+    "Shift the rounded square loaf and the golden crusted bread slice together to the basket with light brown weaving.",
+    "Pick the bread with soft texture and the golden bread and set them in the breadbasket with curved base.",
+    "Use two arms and set the medium-sized bread piece, the square loaf of bread in the two-hand-sized breadbasket.",
+    "Grab both the medium bread with rounded sides and the bread loaf with square shape with the dual arm and place in the woven plastic breadbasket.",
+    "Place the rounded square loaf and the square loaf of bread in the light brown breadbasket using the dual arm",
+    "Put the light brown porous bread and the soft golden baked bread into the breadbasket with curved base using two arms.",
+    "Take the square-shaped bread piece and the golden crusted bread slice, place them inside the basket with light brown weaving.",
+    "Shift the medium bread with rounded sides and the bread with rounded corners into the synthetic material breadbasket",
+    "Take the rounded square loaf and the rectangular bread soft inside together and place them into the oval breadbasket.",
+    "Use both arms to move the golden brown bread, the golden brown loaf-shaped bread to the beige basket for holding bread.",
+    "Pick the golden baked bread and the square loaf of bread for the the two-hand-sized breadbasket",
+    "Simultaneously grab the square-shaped bread piece and the slice-shaped bread using the dual arm, then drop them in the medium oval breadbasket.",
+    "Grab both the bread with soft texture and the brown bread loaf, drop into the two-hand-sized breadbasket.",
+    "Lift the fluffy baked bread and the soft golden baked bread at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Simultaneously grab the golden brown bread and the golden brown loaf-shaped bread, drop in the oval breadbasket.",
+    "Pick up both the medium-sized bread piece and the golden brown loaf-shaped bread, then place them in the breadbasket for small food items.",
+    "Lift the square-shaped bread piece and the brown bread loaf with two arms, put in the basket with light brown weaving.",
+    "Take the bread with rounded edges and the golden crusted bread slice then place in the oval breadbasket.",
+    "Use the dual arm to place the soft square bread and the golden bread into the synthetic material breadbasket.",
+    "Pick the square-shaped bread piece and the bread with rounded corners, place them in the basket with light brown weaving.",
+    "Grab two breads the bread with rounded edges and the bread with firm crust edges and place in the light brown breadbasket.",
+    "Simultaneously use the dual arm to drop the golden baked bread and the golden brown loaf-shaped bread in the synthetic material breadbasket.",
+    "Move the sponge-textured golden bread and the slice-shaped bread at once into the basket with light brown weaving.",
+    "Grab the soft square bread and the golden brown loaf-shaped bread quickly and drop them into the breadbasket for small food items.",
+    "Take the light brown porous bread and the golden crusted bread slice to the two-hand-sized breadbasket",
+    "Move the golden baked bread and the brown bread loaf to the medium oval breadbasket",
+    "Shift the sponge-textured golden bread and the bread with firm crust edges together to the medium oval breadbasket.",
+    "Pick the golden baked bread and the square loaf of bread and set them in the basket with light brown weaving.",
+    "Use two arms and set the sponge-textured golden bread, the bread with firm crust edges in the smooth-textured breadbasket.",
+    "Grab both the golden baked bread and the brown bread loaf with the dual arm and place in the two-hand-sized breadbasket.",
+    "Place the medium bread with rounded sides and the rectangular bread soft inside in the medium oval breadbasket using the dual arm",
+    "Put the medium-sized bread piece and the golden brown loaf-shaped bread into the woven plastic breadbasket using two arms."
+  ],
+  "unseen": [
+    "Pick the soft bread with golden edges and the soft rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Place the square bread with light spots and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the bread loaf medium-sized, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the square bread with light spots and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop it into the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Pick the square bread with light spots and the bread loaf medium-sized and place them in the beige breadbasket.",
+    "Place the soft bread with golden edges and the bread loaf medium-sized into the medium-sized breadbasket using the dual arm",
+    "Grab the square bread with light spots and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the soft rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the square bread with light spots and the small loaf-shaped bread and place in the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop them into the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread and the soft rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the bread loaf medium-sized, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the spongy golden brown bread and the small loaf-shaped bread and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Pick the square bread with light spots and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread and the soft rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the soft rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the small loaf-shaped bread and place in the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the small loaf-shaped bread, drop in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Place the square bread with light spots and the small loaf-shaped bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread and the small loaf-shaped bread, drop in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop it into the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and put them in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop them into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Place the square bread with light spots and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the soft rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the square bread with light spots and the small loaf-shaped bread and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop it into the medium-sized breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the beige breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Place the soft bread with golden edges and the bread loaf medium-sized into the breadbasket with ridged texture using the dual arm",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the small loaf-shaped bread and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread and the small loaf-shaped bread, drop in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop them into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Place the square bread with light spots and the small loaf-shaped bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the soft rectangular bread loaf, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the square bread with light spots and the small loaf-shaped bread, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Pick the soft bread with golden edges and the soft rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Place the spongy golden brown bread and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Grab the square bread with light spots and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and put them in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Pick the square bread with light spots and the small loaf-shaped bread and place them in the breadbasket with ridged texture.",
+    "Place the square bread with light spots and the soft rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the square bread with light spots and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the square bread with light spots and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and the small loaf-shaped bread and place them in the medium-sized breadbasket.",
+    "Place the spongy golden brown bread and the small loaf-shaped bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the soft rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the square bread with light spots and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop it into the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Pick the spongy golden brown bread and the soft rectangular bread loaf and place them in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode32.json b/place_bread_basket/demo_randomized/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..77de13278161101e32c946f73a559ab782af4977
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the light brown porous bread and the sponge-textured golden bread for the the beige breadbasket",
+    "Pick the golden baked bread and the sponge-textured golden bread and set them in the plastic breadbasket with mesh sides.",
+    "Use the right arm to place the rounded square loaf and the sponge-textured golden bread into the woven light beige breadbasket.",
+    "Move the golden brown bread and the rounded square loaf to the light and textured breadbasket",
+    "Simultaneously grab the medium bread with rounded sides and the sponge-textured golden bread, drop in the medium rectangular breadbasket.",
+    "Use both arms to move the light brown porous bread, the square-shaped bread piece to the beige breadbasket for holding bread.",
+    "Grab the fluffy baked bread and the fluffy baked bread quickly and drop them into the light and textured breadbasket.",
+    "Grab both the soft square bread and the sponge-textured golden bread with the right arm and place in the rectangular breadbasket.",
+    "Take the medium bread with rounded sides and the bread with rounded edges then place in the medium rectangular breadbasket.",
+    "Grab both the rounded square loaf and the sponge-textured golden bread, drop into the light and textured breadbasket.",
+    "Shift the golden baked bread and the golden baked bread into the light and textured breadbasket",
+    "Shift the bread with soft texture and the medium bread with rounded sides together to the light beige rectangular breadbasket.",
+    "Use two arms and set the sponge-textured golden bread, the square-shaped bread piece in the light and textured breadbasket.",
+    "Take the rounded square loaf and the bread with rounded edges to the rectangular breadbasket",
+    "Take the soft square bread and the bread with soft texture, place them inside the light and textured breadbasket.",
+    "Move the medium-sized bread piece and the soft square bread at once into the woven light beige breadbasket.",
+    "Lift the sponge-textured golden bread and the light brown porous bread with two arms, put in the medium rectangular breadbasket.",
+    "Take the bread with rounded edges and the square-shaped bread piece together and place them into the beige breadbasket for holding bread.",
+    "Grab two breads the soft square bread and the medium bread with rounded sides and place in the plastic breadbasket with mesh sides.",
+    "Place the square-shaped bread piece and the sponge-textured golden bread in the breadbasket for bread storage using the right arm",
+    "Pick the fluffy baked bread and the rounded square loaf, place them in the plastic breadbasket with mesh sides.",
+    "Simultaneously grab the bread with soft texture and the rounded square loaf using the right arm, then drop them in the breadbasket with textured sides.",
+    "Lift the light brown porous bread and the bread with rounded edges at once with the right arm, then set them in the breadbasket for bread storage.",
+    "Simultaneously use the right arm to drop the golden brown bread and the rounded square loaf in the textured beige breadbasket.",
+    "Put the light brown porous bread and the golden brown bread into the plastic mesh breadbasket using two arms.",
+    "Pick up both the medium-sized bread piece and the rounded square loaf, then place them in the breadbasket with textured sides.",
+    "Pick the golden baked bread and the square-shaped bread piece for the the woven light beige breadbasket",
+    "Pick the sponge-textured golden bread and the bread with soft texture and set them in the light and textured breadbasket.",
+    "Use the right arm to place the sponge-textured golden bread and the golden brown bread into the woven light beige breadbasket.",
+    "Move the medium-sized bread piece and the bread with soft texture to the textured beige breadbasket",
+    "Simultaneously grab the medium bread with rounded sides and the medium-sized bread piece, drop in the beige breadbasket for holding bread.",
+    "Use both arms to move the golden baked bread, the medium-sized bread piece to the textured beige breadbasket.",
+    "Grab the square-shaped bread piece and the soft square bread quickly and drop them into the rectangular breadbasket.",
+    "Grab both the soft square bread and the bread with rounded edges with the right arm and place in the medium rectangular breadbasket.",
+    "Take the square-shaped bread piece and the soft square bread then place in the light and textured breadbasket.",
+    "Grab both the rounded square loaf and the light brown porous bread, drop into the beige breadbasket for holding bread.",
+    "Shift the medium-sized bread piece and the rounded square loaf into the plastic breadbasket with mesh sides",
+    "Shift the rounded square loaf and the bread with soft texture together to the medium rectangular breadbasket.",
+    "Use two arms and set the bread with soft texture, the medium bread with rounded sides in the rectangular breadbasket.",
+    "Take the fluffy baked bread and the golden baked bread to the textured beige breadbasket",
+    "Take the rounded square loaf and the medium bread with rounded sides, place them inside the plastic mesh breadbasket.",
+    "Move the golden brown bread and the medium-sized bread piece at once into the plastic breadbasket with mesh sides.",
+    "Lift the golden baked bread and the soft square bread with two arms, put in the breadbasket with textured sides.",
+    "Take the light brown porous bread and the soft square bread together and place them into the beige breadbasket for holding bread.",
+    "Grab two breads the bread with rounded edges and the light brown porous bread and place in the breadbasket for bread storage.",
+    "Place the medium-sized bread piece and the medium bread with rounded sides in the medium rectangular breadbasket using the right arm",
+    "Pick the fluffy baked bread and the fluffy baked bread, place them in the rectangular breadbasket.",
+    "Simultaneously grab the golden baked bread and the golden brown bread using the right arm, then drop them in the medium rectangular breadbasket.",
+    "Lift the fluffy baked bread and the rounded square loaf at once with the right arm, then set them in the breadbasket for bread storage.",
+    "Simultaneously use the right arm to drop the fluffy baked bread and the medium-sized bread piece in the breadbasket for bread storage.",
+    "Put the bread with soft texture and the golden brown bread into the woven light beige breadbasket using two arms.",
+    "Pick up both the soft square bread and the bread with rounded edges, then place them in the light beige rectangular breadbasket.",
+    "Pick the medium-sized bread piece and the rounded square loaf for the the plastic mesh breadbasket",
+    "Pick the sponge-textured golden bread and the bread with rounded edges and set them in the plastic mesh breadbasket.",
+    "Use the right arm to place the medium-sized bread piece and the bread with soft texture into the light beige rectangular breadbasket.",
+    "Move the square-shaped bread piece and the bread with soft texture to the beige breadbasket for holding bread",
+    "Simultaneously grab the light brown porous bread and the bread with soft texture, drop in the light and textured breadbasket.",
+    "Use both arms to move the bread with soft texture, the rounded square loaf to the medium rectangular breadbasket.",
+    "Grab the square-shaped bread piece and the bread with soft texture quickly and drop them into the light beige rectangular breadbasket.",
+    "Grab both the sponge-textured golden bread and the square-shaped bread piece with the right arm and place in the beige breadbasket for holding bread.",
+    "Take the golden brown bread and the bread with rounded edges then place in the breadbasket with textured sides.",
+    "Grab both the sponge-textured golden bread and the light brown porous bread, drop into the woven light beige breadbasket.",
+    "Shift the golden baked bread and the golden baked bread into the beige breadbasket for holding bread",
+    "Shift the bread with soft texture and the golden brown bread together to the light and textured breadbasket.",
+    "Use two arms and set the medium bread with rounded sides, the golden brown bread in the medium rectangular breadbasket.",
+    "Take the soft square bread and the bread with rounded edges to the plastic breadbasket with mesh sides",
+    "Take the bread with rounded edges and the bread with rounded edges, place them inside the beige breadbasket for holding bread.",
+    "Move the light brown porous bread and the fluffy baked bread at once into the woven light beige breadbasket.",
+    "Lift the medium-sized bread piece and the sponge-textured golden bread with two arms, put in the light and textured breadbasket.",
+    "Take the golden brown bread and the bread with rounded edges together and place them into the rectangular breadbasket.",
+    "Grab two breads the sponge-textured golden bread and the medium bread with rounded sides and place in the light beige rectangular breadbasket.",
+    "Place the bread with soft texture and the golden baked bread in the plastic mesh breadbasket using the right arm",
+    "Pick the square-shaped bread piece and the medium bread with rounded sides, place them in the breadbasket with textured sides.",
+    "Simultaneously grab the golden baked bread and the bread with rounded edges using the right arm, then drop them in the beige breadbasket for holding bread.",
+    "Lift the golden brown bread and the golden baked bread at once with the right arm, then set them in the breadbasket with textured sides.",
+    "Simultaneously use the right arm to drop the soft square bread and the rounded square loaf in the breadbasket for bread storage.",
+    "Put the bread with soft texture and the soft square bread into the textured beige breadbasket using two arms.",
+    "Pick up both the square-shaped bread piece and the rounded square loaf, then place them in the medium rectangular breadbasket.",
+    "Pick the medium bread with rounded sides and the bread with rounded edges for the the light and textured breadbasket",
+    "Pick the bread with rounded edges and the bread with rounded edges and set them in the light beige rectangular breadbasket.",
+    "Use the right arm to place the medium bread with rounded sides and the golden brown bread into the breadbasket for bread storage.",
+    "Move the rounded square loaf and the golden baked bread to the light beige rectangular breadbasket",
+    "Simultaneously grab the fluffy baked bread and the golden baked bread, drop in the woven light beige breadbasket.",
+    "Use both arms to move the golden brown bread, the bread with soft texture to the textured beige breadbasket.",
+    "Grab the square-shaped bread piece and the golden brown bread quickly and drop them into the light beige rectangular breadbasket.",
+    "Grab both the bread with soft texture and the light brown porous bread with the right arm and place in the plastic mesh breadbasket.",
+    "Take the bread with soft texture and the bread with soft texture then place in the plastic breadbasket with mesh sides.",
+    "Grab both the sponge-textured golden bread and the soft square bread, drop into the plastic mesh breadbasket.",
+    "Shift the golden brown bread and the bread with rounded edges into the light beige rectangular breadbasket",
+    "Shift the medium bread with rounded sides and the medium bread with rounded sides together to the woven light beige breadbasket.",
+    "Use two arms and set the sponge-textured golden bread, the golden brown bread in the plastic mesh breadbasket.",
+    "Take the golden baked bread and the bread with soft texture to the breadbasket with textured sides",
+    "Take the light brown porous bread and the rounded square loaf, place them inside the light beige rectangular breadbasket.",
+    "Move the medium bread with rounded sides and the fluffy baked bread at once into the plastic breadbasket with mesh sides.",
+    "Lift the fluffy baked bread and the medium-sized bread piece with two arms, put in the light beige rectangular breadbasket.",
+    "Take the square-shaped bread piece and the golden brown bread together and place them into the light beige rectangular breadbasket.",
+    "Grab two breads the medium-sized bread piece and the bread with rounded edges and place in the light and textured breadbasket.",
+    "Place the rounded square loaf and the light brown porous bread in the rectangular breadbasket using the right arm",
+    "Pick the rounded square loaf and the rounded square loaf, place them in the breadbasket for bread storage.",
+    "Simultaneously grab the medium-sized bread piece and the golden baked bread using the right arm, then drop them in the breadbasket for bread storage."
+  ],
+  "unseen": [
+    "Place the soft bread with golden edges and the soft bread with golden edges into the shallow rectangular breadbasket using the right arm",
+    "Use one arm to grab the soft bread with golden edges and the square bread with light spots, drop in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop them into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the square bread with light spots with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick the square bread with light spots and the square bread with light spots and place in the woven shallow breadbasket.",
+    "Pick the spongy golden brown bread and the soft bread with golden edges and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the soft bread with golden edges and the soft bread with golden edges, then place them in the shallow rectangular breadbasket.",
+    "Place the square bread with light spots and the spongy golden brown bread into the woven shallow breadbasket using the right arm",
+    "Use one arm to grab the spongy golden brown bread and the spongy golden brown bread, drop in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the spongy golden brown bread with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the square bread with light spots and the spongy golden brown bread and place in the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and the spongy golden brown bread and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread and the soft bread with golden edges, then place them in the woven shallow breadbasket.",
+    "Place the square bread with light spots and the soft bread with golden edges into the breadbasket with woven pattern using the right arm",
+    "Use one arm to grab the square bread with light spots and the square bread with light spots, drop in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots and drop them into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the spongy golden brown bread with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the square bread with light spots and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the shallow rectangular breadbasket.",
+    "Pick the square bread with light spots and the square bread with light spots and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges and the square bread with light spots into the breadbasket with woven pattern using the right arm",
+    "Use one arm to grab the square bread with light spots and the square bread with light spots, drop in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop them into the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the square bread with light spots with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the square bread with light spots and the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Pick the soft bread with golden edges and the spongy golden brown bread and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges and the spongy golden brown bread into the breadbasket with woven pattern using the right arm",
+    "Use one arm to grab the soft bread with golden edges and the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop them into the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the soft bread with golden edges with two arms, place in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots and drop it into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the square bread with light spots and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and the spongy golden brown bread and place in the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and the soft bread with golden edges and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges and the square bread with light spots, then place them in the shallow rectangular breadbasket.",
+    "Place the square bread with light spots and the spongy golden brown bread into the woven shallow breadbasket using the right arm",
+    "Use one arm to grab the soft bread with golden edges and the soft bread with golden edges, drop in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop them into the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges with two arms, place in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the square bread with light spots and the soft bread with golden edges and place in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and the spongy golden brown bread and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the woven shallow breadbasket.",
+    "Place the square bread with light spots and the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Use one arm to grab the spongy golden brown bread and the spongy golden brown bread, drop in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop them into the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges with two arms, place in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and the spongy golden brown bread and place in the breadbasket with woven pattern.",
+    "Pick the soft bread with golden edges and the soft bread with golden edges and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the square bread with light spots and the square bread with light spots, then place them in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges and the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Use one arm to grab the soft bread with golden edges and the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop them into the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the spongy golden brown bread with two arms, place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the breadbasket with woven pattern.",
+    "Pick the soft bread with golden edges and the square bread with light spots and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread and the spongy golden brown bread, then place them in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges and the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Use one arm to grab the spongy golden brown bread and the square bread with light spots, drop in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop them into the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick the spongy golden brown bread and the soft bread with golden edges and place in the breadbasket with woven pattern.",
+    "Pick the soft bread with golden edges and the soft bread with golden edges and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread and the soft bread with golden edges, then place them in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges and the soft bread with golden edges into the woven shallow breadbasket using the right arm",
+    "Use one arm to grab the square bread with light spots and the soft bread with golden edges, drop in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop them into the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots with two arms, place in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop it into the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and the square bread with light spots and place in the woven shallow breadbasket.",
+    "Pick the square bread with light spots and the square bread with light spots and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges and the spongy golden brown bread, then place them in the woven shallow breadbasket.",
+    "Place the square bread with light spots and the spongy golden brown bread into the woven shallow breadbasket using the right arm",
+    "Use one arm to grab the spongy golden brown bread and the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick the soft bread with golden edges and the square bread with light spots and place in the woven shallow breadbasket.",
+    "Pick the soft bread with golden edges and the soft bread with golden edges and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges and the spongy golden brown bread, then place them in the shallow rectangular breadbasket.",
+    "Place the spongy golden brown bread and the soft bread with golden edges into the shallow rectangular breadbasket using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode33.json b/place_bread_basket/demo_randomized/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dd33846f06bd20ec0c20dde54df100ca4617f62
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the square-shaped bread piece into the spiral ridged breadbasket using an arm.",
+    "Grab the fluffy baked bread with an arm and set in the spiral ridged breadbasket.",
+    "Lift the golden brown bread and transfer to the breadbasket made of woven wood.",
+    "Use the right arm to grab the light brown porous bread for the medium breadbasket",
+    "Move the bread with soft texture to the round breadbasket using one arm.",
+    "Grab the rounded square loaf with one hand and set it in the breadbasket for baking.",
+    "Put the fluffy baked bread into the breadbasket for baking after grabbing it.",
+    "Pick the medium bread with rounded sides and put it into the breadbasket for dough.",
+    "Pick the bread with soft texture and move it to the breadbasket with spiral lines.",
+    "Lift the fluffy baked bread and set it in the medium breadbasket.",
+    "Pick up the soft square bread and drop it in the breadbasket shaped like a bowl.",
+    "Use the right arm to grab the soft square bread and drop it inside the breadbasket shaped like a bowl.",
+    "Grab the medium bread with rounded sides with the right arm and drop it in the breadbasket shaped like a bowl.",
+    "Grab the bread with rounded edges, drop it into the smooth beige breadbasket.",
+    "Drop the fluffy baked bread into the breadbasket made of woven wood",
+    "Pick up the rounded square loaf and put it in the breadbasket made of woven wood.",
+    "Grab the medium-sized bread piece for the breadbasket for dough with the right arm",
+    "Put the bread with soft texture into the wooden breadbasket using an arm.",
+    "Grab the fluffy baked bread with an arm and set in the breadbasket shaped like a bowl.",
+    "Lift the soft square bread and transfer to the breadbasket made of woven wood.",
+    "Use the right arm to grab the golden brown bread for the round breadbasket",
+    "Move the fluffy baked bread to the breadbasket for baking using one arm.",
+    "Grab the golden brown bread with one hand and set it in the smooth beige breadbasket.",
+    "Put the golden baked bread into the breadbasket with flat base after grabbing it.",
+    "Pick the medium-sized bread piece and put it into the breadbasket with flat base.",
+    "Pick the medium-sized bread piece and move it to the round breadbasket.",
+    "Lift the soft square bread and set it in the palm-sized breadbasket.",
+    "Pick up the square-shaped bread piece and drop it in the palm-sized breadbasket.",
+    "Use the right arm to grab the square-shaped bread piece and drop it inside the breadbasket with spiral lines.",
+    "Grab the bread with rounded edges with the right arm and drop it in the breadbasket shaped like a bowl.",
+    "Grab the bread with soft texture, drop it into the medium breadbasket.",
+    "Drop the medium-sized bread piece into the breadbasket made of woven wood",
+    "Pick up the bread with soft texture and put it in the breadbasket for baking.",
+    "Grab the medium bread with rounded sides for the breadbasket with flat base with the right arm",
+    "Put the light brown porous bread into the round breadbasket using an arm.",
+    "Grab the medium-sized bread piece with an arm and set in the palm-sized breadbasket.",
+    "Lift the golden baked bread and transfer to the smooth beige breadbasket.",
+    "Use the right arm to grab the medium bread with rounded sides for the breadbasket shaped like a bowl",
+    "Move the soft square bread to the breadbasket shaped like a bowl using one arm.",
+    "Grab the golden baked bread with one hand and set it in the spiral ridged breadbasket.",
+    "Put the fluffy baked bread into the breadbasket for dough after grabbing it.",
+    "Pick the rounded square loaf and put it into the spiral ridged breadbasket.",
+    "Pick the square-shaped bread piece and move it to the wooden breadbasket.",
+    "Lift the medium bread with rounded sides and set it in the breadbasket for dough.",
+    "Pick up the sponge-textured golden bread and drop it in the smooth beige breadbasket.",
+    "Use the right arm to grab the bread with rounded edges and drop it inside the breadbasket made of woven wood.",
+    "Grab the golden brown bread with the right arm and drop it in the breadbasket for baking.",
+    "Grab the fluffy baked bread, drop it into the spiral ridged breadbasket.",
+    "Drop the bread with soft texture into the breadbasket for baking",
+    "Pick up the bread with rounded edges and put it in the breadbasket with spiral lines.",
+    "Grab the medium bread with rounded sides for the spiral ridged breadbasket with the right arm",
+    "Put the square-shaped bread piece into the breadbasket shaped like a bowl using an arm.",
+    "Grab the bread with soft texture with an arm and set in the breadbasket for dough.",
+    "Lift the golden brown bread and transfer to the wooden breadbasket.",
+    "Use the right arm to grab the fluffy baked bread for the wooden breadbasket",
+    "Move the square-shaped bread piece to the breadbasket with spiral lines using one arm.",
+    "Grab the medium bread with rounded sides with one hand and set it in the breadbasket for baking.",
+    "Put the medium-sized bread piece into the breadbasket with flat base after grabbing it.",
+    "Pick the bread with rounded edges and put it into the breadbasket with flat base.",
+    "Pick the rounded square loaf and move it to the wooden breadbasket.",
+    "Lift the golden baked bread and set it in the round breadbasket.",
+    "Pick up the fluffy baked bread and drop it in the smooth beige breadbasket.",
+    "Use the right arm to grab the bread with rounded edges and drop it inside the breadbasket with spiral lines.",
+    "Grab the bread with soft texture with the right arm and drop it in the breadbasket shaped like a bowl.",
+    "Grab the medium bread with rounded sides, drop it into the breadbasket for baking.",
+    "Drop the sponge-textured golden bread into the breadbasket with flat base",
+    "Pick up the medium-sized bread piece and put it in the spiral ridged breadbasket.",
+    "Grab the bread with soft texture for the medium breadbasket with the right arm",
+    "Put the bread with soft texture into the breadbasket with spiral lines using an arm.",
+    "Grab the fluffy baked bread with an arm and set in the spiral ridged breadbasket.",
+    "Lift the soft square bread and transfer to the breadbasket shaped like a bowl.",
+    "Use the right arm to grab the fluffy baked bread for the breadbasket for baking",
+    "Move the fluffy baked bread to the spiral ridged breadbasket using one arm.",
+    "Grab the golden brown bread with one hand and set it in the smooth beige breadbasket.",
+    "Put the light brown porous bread into the smooth beige breadbasket after grabbing it.",
+    "Pick the light brown porous bread and put it into the smooth beige breadbasket.",
+    "Pick the bread with soft texture and move it to the breadbasket shaped like a bowl.",
+    "Lift the square-shaped bread piece and set it in the breadbasket with spiral lines.",
+    "Pick up the medium bread with rounded sides and drop it in the breadbasket with spiral lines.",
+    "Use the right arm to grab the golden baked bread and drop it inside the spiral ridged breadbasket.",
+    "Grab the bread with soft texture with the right arm and drop it in the palm-sized breadbasket.",
+    "Grab the rounded square loaf, drop it into the spiral ridged breadbasket.",
+    "Drop the sponge-textured golden bread into the breadbasket with spiral lines",
+    "Pick up the bread with soft texture and put it in the round breadbasket.",
+    "Grab the light brown porous bread for the breadbasket for baking with the right arm",
+    "Put the golden baked bread into the spiral ridged breadbasket using an arm.",
+    "Grab the golden baked bread with an arm and set in the breadbasket shaped like a bowl.",
+    "Lift the rounded square loaf and transfer to the breadbasket for dough.",
+    "Use the right arm to grab the fluffy baked bread for the round breadbasket",
+    "Move the golden brown bread to the round breadbasket using one arm.",
+    "Grab the golden baked bread with one hand and set it in the breadbasket for dough.",
+    "Put the bread with rounded edges into the breadbasket shaped like a bowl after grabbing it.",
+    "Pick the golden baked bread and put it into the medium breadbasket.",
+    "Pick the soft square bread and move it to the palm-sized breadbasket.",
+    "Lift the golden baked bread and set it in the breadbasket made of woven wood.",
+    "Pick up the medium-sized bread piece and drop it in the breadbasket for baking.",
+    "Use the right arm to grab the golden brown bread and drop it inside the breadbasket for dough.",
+    "Grab the sponge-textured golden bread with the right arm and drop it in the breadbasket for baking.",
+    "Grab the light brown porous bread, drop it into the round breadbasket.",
+    "Drop the square-shaped bread piece into the breadbasket with spiral lines"
+  ],
+  "unseen": [
+    "Pick the soft bread with golden edges and place it in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and put it in the beige breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the light wooden breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the round beige breadbasket",
+    "Place the spongy golden brown bread into the beige breadbasket using the right arm",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the round beige breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the light wooden breadbasket.",
+    "Pick the soft bread with golden edges and place it in the light wooden breadbasket.",
+    "Grab the square bread with light spots and put it in the light wooden breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the beige breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the beige breadbasket",
+    "Place the spongy golden brown bread into the light wooden breadbasket using the right arm",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the light wooden breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the light wooden breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the round beige breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the round beige breadbasket.",
+    "Pick the soft bread with golden edges and place it in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and put it in the round beige breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the round beige breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the light wooden breadbasket",
+    "Place the spongy golden brown bread into the round beige breadbasket using the right arm",
+    "Grab the spongy golden brown bread and drop it into the light wooden breadbasket.",
+    "Grab the square bread with light spots and drop it into the round beige breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the light wooden breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the round beige breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the round beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the round beige breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the beige breadbasket",
+    "Place the spongy golden brown bread into the beige breadbasket using the right arm",
+    "Grab the soft bread with golden edges and drop it into the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the round beige breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the light wooden breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the round beige breadbasket.",
+    "Pick the square bread with light spots and place it in the round beige breadbasket.",
+    "Grab the square bread with light spots and put it in the light wooden breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the light wooden breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the light wooden breadbasket",
+    "Place the square bread with light spots into the round beige breadbasket using the right arm",
+    "Grab the soft bread with golden edges and drop it into the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the round beige breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the round beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the round beige breadbasket.",
+    "Pick the soft bread with golden edges and place it in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and put it in the beige breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the round beige breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the light wooden breadbasket",
+    "Place the square bread with light spots into the round beige breadbasket using the right arm",
+    "Grab the square bread with light spots and drop it into the round beige breadbasket.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the round beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the beige breadbasket.",
+    "Grab the spongy golden brown bread and put it in the round beige breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the light wooden breadbasket",
+    "Place the soft bread with golden edges into the light wooden breadbasket using the right arm",
+    "Grab the square bread with light spots and drop it into the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the light wooden breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the round beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the beige breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the light wooden breadbasket.",
+    "Pick the soft bread with golden edges and place it in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the round beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Place the soft bread with golden edges into the light wooden breadbasket using the right arm",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the square bread with light spots and drop it into the light wooden breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the light wooden breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the beige breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the round beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the beige breadbasket.",
+    "Grab the spongy golden brown bread and put it in the light wooden breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the round beige breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the round beige breadbasket",
+    "Place the square bread with light spots into the beige breadbasket using the right arm",
+    "Grab the spongy golden brown bread and drop it into the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the beige breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the round beige breadbasket.",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Grab the spongy golden brown bread and put it in the round beige breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the round beige breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the light wooden breadbasket",
+    "Place the square bread with light spots into the light wooden breadbasket using the right arm",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the round beige breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the beige breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the light wooden breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode34.json b/place_bread_basket/demo_randomized/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e82e2486f21e5a811644767f58beeb90c191a04
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the light brown bread with ridges and the small golden brown bread quickly and drop them into the spiral ridged breadbasket.",
+    "Grab two breads the small loaf with curved top and the soft brown bread and place in the breadbasket shaped like a bowl.",
+    "Take the hand-sized oval loaf and the small golden brown bread together and place them into the palm-sized breadbasket.",
+    "Pick the hand-sized oval loaf and the smooth loaf with rounded edges and set them in the breadbasket for dough.",
+    "Take the small loaf with curved top and the brown loaf then place in the breadbasket shaped like a bowl.",
+    "Move the small loaf with curved top and the small golden brown bread to the breadbasket for baking",
+    "Grab both the light brown bread with ridges and the bread with warm golden color, drop into the breadbasket for baking.",
+    "Pick the light brown loaf with smooth sides and the hand-sized oval loaf for the the round breadbasket",
+    "Shift the brown loaf and the small golden brown bread into the medium breadbasket",
+    "Pick up both the hand-sized oval loaf and the soft brown bread, then place them in the spiral ridged breadbasket.",
+    "Grab both the hand-sized oval loaf and the hand-sized oval loaf with the dual arm and place in the spiral ridged breadbasket.",
+    "Take the small loaf with curved top and the brown loaf to the round breadbasket",
+    "Take the hand-sized oval loaf and the small golden brown bread, place them inside the spiral ridged breadbasket.",
+    "Use two arms and set the light brown loaf with smooth sides, the smooth loaf with rounded edges in the breadbasket with spiral lines.",
+    "Move the small golden brown bread and the golden bread loaf at once into the breadbasket with flat base.",
+    "Pick the soft brown bread and the bread with warm golden color, place them in the breadbasket for baking.",
+    "Simultaneously use the dual arm to drop the brown loaf and the small loaf with curved top in the breadbasket for baking.",
+    "Place the small loaf with curved top and the smooth loaf with rounded edges in the smooth beige breadbasket using the dual arm",
+    "Simultaneously grab the bread with split top and the bread with warm golden color using the dual arm, then drop them in the medium breadbasket.",
+    "Shift the bread with warm golden color and the brown loaf together to the breadbasket with spiral lines.",
+    "Simultaneously grab the light brown loaf with smooth sides and the soft brown bread, drop in the spiral ridged breadbasket.",
+    "Put the golden bread loaf and the bread with warm golden color into the breadbasket with spiral lines using two arms.",
+    "Use both arms to move the golden bread loaf, the smooth loaf with rounded edges to the palm-sized breadbasket.",
+    "Lift the golden bread loaf and the golden bread loaf with two arms, put in the spiral ridged breadbasket.",
+    "Use the dual arm to place the light brown loaf with smooth sides and the bread with warm golden color into the round breadbasket.",
+    "Lift the small loaf with curved top and the bread with golden-brown crust at once with the dual arm, then set them in the spiral ridged breadbasket.",
+    "Grab the small loaf with curved top and the smooth loaf with rounded edges quickly and drop them into the spiral ridged breadbasket.",
+    "Grab two breads the bread with warm golden color and the light brown loaf with smooth sides and place in the breadbasket shaped like a bowl.",
+    "Take the bread with split top and the small loaf with curved top together and place them into the smooth beige breadbasket.",
+    "Pick the brown loaf and the golden bread loaf and set them in the breadbasket for baking.",
+    "Take the small loaf with curved top and the brown loaf then place in the medium breadbasket.",
+    "Move the small golden brown bread and the soft brown bread to the wooden breadbasket",
+    "Grab both the soft brown bread and the bread with warm golden color, drop into the breadbasket for baking.",
+    "Pick the light brown loaf with smooth sides and the small golden brown bread for the the wooden breadbasket",
+    "Shift the brown loaf and the soft brown bread into the wooden breadbasket",
+    "Pick up both the soft brown bread and the smooth loaf with rounded edges, then place them in the breadbasket with flat base.",
+    "Grab both the bread with golden-brown crust and the golden bread loaf with the dual arm and place in the medium breadbasket.",
+    "Take the soft brown bread and the bread with warm golden color to the spiral ridged breadbasket",
+    "Take the brown loaf and the bread with split top, place them inside the breadbasket for baking.",
+    "Use two arms and set the soft brown bread, the light brown loaf with smooth sides in the breadbasket for dough.",
+    "Move the light brown loaf with smooth sides and the bread with warm golden color at once into the breadbasket shaped like a bowl.",
+    "Pick the golden bread loaf and the soft brown bread, place them in the wooden breadbasket.",
+    "Simultaneously use the dual arm to drop the small golden brown bread and the light brown bread with ridges in the palm-sized breadbasket.",
+    "Place the soft brown bread and the bread with golden-brown crust in the round breadbasket using the dual arm",
+    "Simultaneously grab the bread with warm golden color and the smooth loaf with rounded edges using the dual arm, then drop them in the breadbasket with spiral lines.",
+    "Shift the light brown loaf with smooth sides and the small loaf with curved top together to the smooth beige breadbasket.",
+    "Simultaneously grab the light brown loaf with smooth sides and the bread with split top, drop in the breadbasket for baking.",
+    "Put the light brown loaf with smooth sides and the light brown loaf with smooth sides into the round breadbasket using two arms.",
+    "Use both arms to move the bread with warm golden color, the smooth loaf with rounded edges to the wooden breadbasket.",
+    "Lift the golden bread loaf and the hand-sized oval loaf with two arms, put in the breadbasket with spiral lines.",
+    "Use the dual arm to place the smooth loaf with rounded edges and the hand-sized oval loaf into the breadbasket shaped like a bowl.",
+    "Lift the brown loaf and the golden bread loaf at once with the dual arm, then set them in the breadbasket for dough.",
+    "Grab the bread with golden-brown crust and the golden bread loaf quickly and drop them into the round breadbasket.",
+    "Grab two breads the soft brown bread and the smooth loaf with rounded edges and place in the smooth beige breadbasket.",
+    "Take the brown loaf and the bread with golden-brown crust together and place them into the medium breadbasket.",
+    "Pick the golden bread loaf and the small loaf with curved top and set them in the breadbasket made of woven wood.",
+    "Take the hand-sized oval loaf and the bread with split top then place in the wooden breadbasket.",
+    "Move the small loaf with curved top and the light brown loaf with smooth sides to the round breadbasket",
+    "Grab both the bread with warm golden color and the bread with golden-brown crust, drop into the medium breadbasket.",
+    "Pick the light brown bread with ridges and the light brown bread with ridges for the the breadbasket with spiral lines",
+    "Shift the light brown bread with ridges and the brown loaf into the breadbasket made of woven wood",
+    "Pick up both the soft brown bread and the hand-sized oval loaf, then place them in the breadbasket made of woven wood.",
+    "Grab both the hand-sized oval loaf and the bread with warm golden color with the dual arm and place in the palm-sized breadbasket.",
+    "Take the soft brown bread and the bread with golden-brown crust to the palm-sized breadbasket",
+    "Take the hand-sized oval loaf and the light brown bread with ridges, place them inside the spiral ridged breadbasket.",
+    "Use two arms and set the hand-sized oval loaf, the small loaf with curved top in the palm-sized breadbasket.",
+    "Move the bread with warm golden color and the smooth loaf with rounded edges at once into the smooth beige breadbasket.",
+    "Pick the bread with golden-brown crust and the bread with golden-brown crust, place them in the breadbasket for dough.",
+    "Simultaneously use the dual arm to drop the brown loaf and the light brown bread with ridges in the wooden breadbasket.",
+    "Place the soft brown bread and the bread with warm golden color in the round breadbasket using the dual arm",
+    "Simultaneously grab the light brown loaf with smooth sides and the small loaf with curved top using the dual arm, then drop them in the palm-sized breadbasket.",
+    "Shift the bread with golden-brown crust and the soft brown bread together to the breadbasket with spiral lines.",
+    "Simultaneously grab the small golden brown bread and the brown loaf, drop in the breadbasket for dough.",
+    "Put the bread with warm golden color and the bread with warm golden color into the breadbasket with spiral lines using two arms.",
+    "Use both arms to move the bread with golden-brown crust, the small golden brown bread to the medium breadbasket.",
+    "Lift the golden bread loaf and the light brown bread with ridges with two arms, put in the wooden breadbasket.",
+    "Use the dual arm to place the bread with split top and the bread with warm golden color into the round breadbasket.",
+    "Lift the bread with split top and the smooth loaf with rounded edges at once with the dual arm, then set them in the breadbasket with spiral lines.",
+    "Grab the bread with split top and the hand-sized oval loaf quickly and drop them into the round breadbasket.",
+    "Grab two breads the brown loaf and the smooth loaf with rounded edges and place in the breadbasket shaped like a bowl.",
+    "Take the bread with warm golden color and the light brown bread with ridges together and place them into the breadbasket with flat base.",
+    "Pick the golden bread loaf and the golden bread loaf and set them in the smooth beige breadbasket.",
+    "Take the small loaf with curved top and the bread with golden-brown crust then place in the breadbasket made of woven wood.",
+    "Move the bread with golden-brown crust and the hand-sized oval loaf to the breadbasket for dough",
+    "Grab both the smooth loaf with rounded edges and the bread with split top, drop into the breadbasket shaped like a bowl.",
+    "Pick the bread with warm golden color and the small loaf with curved top for the the breadbasket made of woven wood",
+    "Shift the small golden brown bread and the small golden brown bread into the breadbasket for dough",
+    "Pick up both the bread with golden-brown crust and the small loaf with curved top, then place them in the round breadbasket.",
+    "Grab both the light brown loaf with smooth sides and the small golden brown bread with the dual arm and place in the breadbasket with flat base.",
+    "Take the light brown loaf with smooth sides and the light brown loaf with smooth sides to the round breadbasket",
+    "Take the bread with warm golden color and the brown loaf, place them inside the round breadbasket.",
+    "Use two arms and set the bread with split top, the light brown bread with ridges in the breadbasket for dough.",
+    "Move the light brown loaf with smooth sides and the bread with split top at once into the spiral ridged breadbasket.",
+    "Pick the small loaf with curved top and the brown loaf, place them in the wooden breadbasket.",
+    "Simultaneously use the dual arm to drop the soft brown bread and the bread with split top in the palm-sized breadbasket.",
+    "Place the smooth loaf with rounded edges and the light brown loaf with smooth sides in the round breadbasket using the dual arm",
+    "Simultaneously grab the bread with split top and the light brown bread with ridges using the dual arm, then drop them in the palm-sized breadbasket.",
+    "Shift the brown loaf and the brown loaf together to the round breadbasket.",
+    "Simultaneously grab the bread with split top and the light brown bread with ridges, drop in the spiral ridged breadbasket.",
+    "Put the small golden brown bread and the small golden brown bread into the palm-sized breadbasket using two arms."
+  ],
+  "unseen": [
+    "Use the dual arm to pick the oval-shaped soft bread and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and drop it into the round beige breadbasket.",
+    "Place the oval-shaped soft bread and the oval-shaped soft bread into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the rounded oval bread with two arms, place in the light wooden breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the oval bread and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the rounded oval bread, then place them in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and put them in the round beige breadbasket.",
+    "Pick the rounded oval bread and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread and drop it into the round beige breadbasket.",
+    "Place the rounded oval bread and the rounded oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the rounded oval bread with two arms, place in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Use one arm to grab the oval bread and the rounded oval bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the rounded oval bread, then place them in the beige breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Pick the oval bread and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the oval bread and place in the beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop it into the beige breadbasket.",
+    "Place the oval bread and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the oval bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval bread, then place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the oval bread and put them in the light wooden breadbasket.",
+    "Pick the oval bread and the oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop it into the round beige breadbasket.",
+    "Place the rounded oval bread and the rounded oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval bread with two arms, place in the beige breadbasket.",
+    "Grab the oval bread and the oval bread and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the oval bread and the rounded oval bread, then place them in the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and put them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the oval bread and place in the beige breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop it into the round beige breadbasket.",
+    "Place the oval bread and the oval bread into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval bread with two arms, place in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the oval bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the oval bread and the oval-shaped soft bread, then place them in the round beige breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and put them in the round beige breadbasket.",
+    "Pick the oval-shaped soft bread and the rounded oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the rounded oval bread and place in the round beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop it into the round beige breadbasket.",
+    "Place the rounded oval bread and the oval-shaped soft bread into the round beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the rounded oval bread with two arms, place in the round beige breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval-shaped soft bread, drop in the light wooden breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and put them in the light wooden breadbasket.",
+    "Pick the oval bread and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval bread and place in the round beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop it into the beige breadbasket.",
+    "Place the oval bread and the oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the oval bread and the oval bread with two arms, place in the round beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Grab the oval bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the oval-shaped soft bread and place them in the round beige breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the oval bread and place in the round beige breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Place the oval-shaped soft bread and the oval-shaped soft bread into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval-shaped soft bread with two arms, place in the round beige breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the rounded oval bread, then place them in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the oval-shaped soft bread and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the oval bread and the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and drop it into the round beige breadbasket.",
+    "Place the oval bread and the oval-shaped soft bread into the light wooden breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread with two arms, place in the round beige breadbasket.",
+    "Grab the oval bread and the oval bread and drop them into the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the rounded oval bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the oval bread, then place them in the light wooden breadbasket.",
+    "Grab the oval bread and the oval bread and put them in the round beige breadbasket.",
+    "Pick the oval-shaped soft bread and the oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and drop it into the light wooden breadbasket.",
+    "Place the oval bread and the oval-shaped soft bread into the round beige breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the rounded oval bread with two arms, place in the round beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the light wooden breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the rounded oval bread, then place them in the light wooden breadbasket.",
+    "Grab the oval bread and the rounded oval bread and put them in the light wooden breadbasket.",
+    "Pick the oval bread and the oval-shaped soft bread and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval bread and place in the light wooden breadbasket.",
+    "Grab the rounded oval bread and the oval bread and drop it into the beige breadbasket.",
+    "Place the rounded oval bread and the rounded oval bread into the round beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the rounded oval bread with two arms, place in the round beige breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick up the oval bread and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Pick the oval bread and the oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the rounded oval bread and place in the round beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode35.json b/place_bread_basket/demo_randomized/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..e91cc3506ae2fe39d83856754d666267c567c27f
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the sponge-textured golden bread into the light and textured breadbasket using an arm.",
+    "Pick the medium-sized bread piece and put it into the light and textured breadbasket.",
+    "Pick the fluffy baked bread and move it to the light and textured breadbasket.",
+    "Use the right arm to grab the square-shaped bread piece and drop it inside the breadbasket with textured sides.",
+    "Grab the bread with rounded edges for the light beige rectangular breadbasket with the right arm",
+    "Use the right arm to grab the medium-sized bread piece for the breadbasket with textured sides",
+    "Pick up the soft square bread and drop it in the rectangular breadbasket.",
+    "Grab the square-shaped bread piece with an arm and set in the plastic breadbasket with mesh sides.",
+    "Lift the fluffy baked bread and transfer to the light and textured breadbasket.",
+    "Pick up the bread with rounded edges and put it in the plastic breadbasket with mesh sides.",
+    "Grab the medium bread with rounded sides with the right arm and drop it in the beige breadbasket for holding bread.",
+    "Drop the square-shaped bread piece into the medium rectangular breadbasket",
+    "Grab the medium bread with rounded sides, drop it into the beige breadbasket for holding bread.",
+    "Lift the bread with soft texture and set it in the light beige rectangular breadbasket.",
+    "Move the light brown porous bread to the plastic breadbasket with mesh sides using one arm.",
+    "Grab the bread with soft texture with one hand and set it in the breadbasket with textured sides.",
+    "Put the medium bread with rounded sides into the breadbasket for bread storage after grabbing it.",
+    "Put the rounded square loaf into the plastic mesh breadbasket using an arm.",
+    "Pick the golden baked bread and put it into the breadbasket with textured sides.",
+    "Pick the medium-sized bread piece and move it to the beige breadbasket.",
+    "Use the right arm to grab the soft square bread and drop it inside the plastic mesh breadbasket.",
+    "Grab the bread with rounded edges for the beige breadbasket with the right arm",
+    "Use the right arm to grab the medium-sized bread piece for the light beige rectangular breadbasket",
+    "Pick up the bread with soft texture and drop it in the light and textured breadbasket.",
+    "Grab the bread with rounded edges with an arm and set in the textured beige breadbasket.",
+    "Lift the golden baked bread and transfer to the light beige rectangular breadbasket.",
+    "Pick up the medium bread with rounded sides and put it in the medium rectangular breadbasket.",
+    "Grab the bread with rounded edges with the right arm and drop it in the woven light beige breadbasket.",
+    "Drop the bread with soft texture into the medium rectangular breadbasket",
+    "Grab the medium bread with rounded sides, drop it into the woven light beige breadbasket.",
+    "Lift the bread with rounded edges and set it in the light beige rectangular breadbasket.",
+    "Move the rounded square loaf to the woven light beige breadbasket using one arm.",
+    "Grab the bread with soft texture with one hand and set it in the medium rectangular breadbasket.",
+    "Put the bread with rounded edges into the plastic mesh breadbasket after grabbing it.",
+    "Put the medium-sized bread piece into the plastic breadbasket with mesh sides using an arm.",
+    "Pick the golden brown bread and put it into the light beige rectangular breadbasket.",
+    "Pick the medium-sized bread piece and move it to the light and textured breadbasket.",
+    "Use the right arm to grab the medium-sized bread piece and drop it inside the woven light beige breadbasket.",
+    "Grab the sponge-textured golden bread for the breadbasket for bread storage with the right arm",
+    "Use the right arm to grab the fluffy baked bread for the medium rectangular breadbasket",
+    "Pick up the light brown porous bread and drop it in the beige breadbasket.",
+    "Grab the bread with soft texture with an arm and set in the beige breadbasket for holding bread.",
+    "Lift the fluffy baked bread and transfer to the light beige rectangular breadbasket.",
+    "Pick up the golden baked bread and put it in the rectangular breadbasket.",
+    "Grab the sponge-textured golden bread with the right arm and drop it in the woven light beige breadbasket.",
+    "Drop the light brown porous bread into the beige breadbasket for holding bread",
+    "Grab the golden baked bread, drop it into the beige breadbasket for holding bread.",
+    "Lift the rounded square loaf and set it in the beige breadbasket.",
+    "Move the light brown porous bread to the beige breadbasket using one arm.",
+    "Grab the medium-sized bread piece with one hand and set it in the breadbasket for bread storage.",
+    "Put the sponge-textured golden bread into the beige breadbasket after grabbing it.",
+    "Put the golden baked bread into the beige breadbasket for holding bread using an arm.",
+    "Pick the bread with rounded edges and put it into the medium rectangular breadbasket.",
+    "Pick the sponge-textured golden bread and move it to the plastic mesh breadbasket.",
+    "Use the right arm to grab the golden baked bread and drop it inside the light and textured breadbasket.",
+    "Grab the soft square bread for the breadbasket for bread storage with the right arm",
+    "Use the right arm to grab the medium-sized bread piece for the breadbasket for bread storage",
+    "Pick up the bread with rounded edges and drop it in the woven light beige breadbasket.",
+    "Grab the golden baked bread with an arm and set in the light and textured breadbasket.",
+    "Lift the light brown porous bread and transfer to the beige breadbasket for holding bread.",
+    "Pick up the fluffy baked bread and put it in the textured beige breadbasket.",
+    "Grab the bread with rounded edges with the right arm and drop it in the rectangular breadbasket.",
+    "Drop the square-shaped bread piece into the textured beige breadbasket",
+    "Grab the golden brown bread, drop it into the medium rectangular breadbasket.",
+    "Lift the medium-sized bread piece and set it in the textured beige breadbasket.",
+    "Move the golden brown bread to the plastic breadbasket with mesh sides using one arm.",
+    "Grab the rounded square loaf with one hand and set it in the beige breadbasket for holding bread.",
+    "Put the golden baked bread into the breadbasket for bread storage after grabbing it.",
+    "Put the square-shaped bread piece into the rectangular breadbasket using an arm.",
+    "Pick the medium bread with rounded sides and put it into the rectangular breadbasket.",
+    "Pick the soft square bread and move it to the woven light beige breadbasket.",
+    "Use the right arm to grab the sponge-textured golden bread and drop it inside the rectangular breadbasket.",
+    "Grab the golden baked bread for the beige breadbasket for holding bread with the right arm",
+    "Use the right arm to grab the rounded square loaf for the plastic mesh breadbasket",
+    "Pick up the golden brown bread and drop it in the woven light beige breadbasket.",
+    "Grab the sponge-textured golden bread with an arm and set in the beige breadbasket for holding bread.",
+    "Lift the bread with soft texture and transfer to the light and textured breadbasket.",
+    "Pick up the medium bread with rounded sides and put it in the light beige rectangular breadbasket.",
+    "Grab the bread with soft texture with the right arm and drop it in the woven light beige breadbasket.",
+    "Drop the square-shaped bread piece into the plastic mesh breadbasket",
+    "Grab the medium bread with rounded sides, drop it into the plastic mesh breadbasket.",
+    "Lift the light brown porous bread and set it in the beige breadbasket.",
+    "Move the square-shaped bread piece to the plastic breadbasket with mesh sides using one arm.",
+    "Grab the golden brown bread with one hand and set it in the beige breadbasket for holding bread.",
+    "Put the bread with rounded edges into the woven light beige breadbasket after grabbing it.",
+    "Put the rounded square loaf into the woven light beige breadbasket using an arm.",
+    "Pick the golden brown bread and put it into the light beige rectangular breadbasket.",
+    "Pick the golden brown bread and move it to the textured beige breadbasket.",
+    "Use the right arm to grab the soft square bread and drop it inside the beige breadbasket.",
+    "Grab the bread with soft texture for the beige breadbasket for holding bread with the right arm",
+    "Use the right arm to grab the sponge-textured golden bread for the light and textured breadbasket",
+    "Pick up the light brown porous bread and drop it in the plastic mesh breadbasket.",
+    "Grab the golden baked bread with an arm and set in the light and textured breadbasket.",
+    "Lift the rounded square loaf and transfer to the woven light beige breadbasket.",
+    "Pick up the sponge-textured golden bread and put it in the textured beige breadbasket.",
+    "Grab the rounded square loaf with the right arm and drop it in the light and textured breadbasket.",
+    "Drop the bread with rounded edges into the rectangular breadbasket",
+    "Grab the square-shaped bread piece, drop it into the breadbasket with textured sides.",
+    "Lift the medium bread with rounded sides and set it in the breadbasket with textured sides.",
+    "Move the medium bread with rounded sides to the light beige rectangular breadbasket using one arm."
+  ],
+  "unseen": [
+    "Place the square bread with light spots into the woven shallow breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and put it in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Place the spongy golden brown bread into the breadbasket with woven pattern using the right arm",
+    "Pick the soft bread with golden edges and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and place it in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the soft bread with golden edges and place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and put it in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with woven pattern.",
+    "Place the soft bread with golden edges into the woven shallow breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with woven pattern.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread with one arm, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Place the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the woven shallow breadbasket.",
+    "Pick the square bread with light spots and place it in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the woven shallow breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with woven pattern.",
+    "Place the soft bread with golden edges into the shallow rectangular breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the shallow rectangular breadbasket.",
+    "Pick the spongy golden brown bread and place it in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick the soft bread with golden edges and place in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and put it in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Place the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the soft bread with golden edges and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the square bread with light spots, then place it in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and place it in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick the spongy golden brown bread and place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Place the square bread with light spots into the woven shallow breadbasket using the right arm",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with woven pattern",
+    "Use the right arm to pick up the square bread with light spots, then place it in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and put it in the woven shallow breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Place the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the soft bread with golden edges and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the woven shallow breadbasket.",
+    "Pick the spongy golden brown bread and place it in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Place the square bread with light spots into the shallow rectangular breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the square bread with light spots, then place it in the woven shallow breadbasket.",
+    "Pick the square bread with light spots and place it in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick the spongy golden brown bread and place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and put it in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the woven shallow breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges into the breadbasket with woven pattern using the right arm",
+    "Pick the square bread with light spots and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick up the square bread with light spots, then place it in the woven shallow breadbasket.",
+    "Pick the square bread with light spots and place it in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick the spongy golden brown bread and place in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and put it in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the shallow rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode36.json b/place_bread_basket/demo_randomized/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aebe7113c9981231ad022479de4867d294d60bc
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bread with golden crust and the medium bread with rounded sides to the plastic breadbasket with mesh sides",
+    "Shift the braided bread loaf and the soft square bread into the medium rectangular breadbasket",
+    "Simultaneously grab the golden brown bread with braided design and the soft square bread using the right arm, then drop them in the beige breadbasket for holding bread.",
+    "Grab both the soft golden bread and the rounded square loaf, drop into the beige breadbasket for holding bread.",
+    "Use both arms to move the golden brown bread, the fluffy baked bread to the plastic breadbasket with mesh sides.",
+    "Use the right arm to place the small bread and the medium-sized bread piece into the breadbasket with textured sides.",
+    "Shift the bread with golden crust and the rounded square loaf together to the rectangular breadbasket.",
+    "Grab two breads the braided bread loaf and the golden brown bread and place in the woven light beige breadbasket.",
+    "Take the small golden baked bread and the golden baked bread then place in the medium rectangular breadbasket.",
+    "Pick the golden brown bread and the bread with soft texture for the the beige breadbasket",
+    "Move the soft doughy bread and the bread with rounded edges to the plastic breadbasket with mesh sides",
+    "Move the small golden baked bread and the light brown porous bread at once into the textured beige breadbasket.",
+    "Take the golden bread loaf with soft inside and the bread with soft texture together and place them into the rectangular breadbasket.",
+    "Pick up both the soft doughy bread and the sponge-textured golden bread, then place them in the rectangular breadbasket.",
+    "Simultaneously grab the soft doughy bread and the soft square bread, drop in the woven light beige breadbasket.",
+    "Take the golden bread loaf with soft inside and the golden baked bread, place them inside the light and textured breadbasket.",
+    "Place the bread with golden crust and the medium bread with rounded sides in the plastic mesh breadbasket using the right arm",
+    "Lift the bread with golden crust and the sponge-textured golden bread with two arms, put in the light and textured breadbasket.",
+    "Lift the smooth crusty small bread and the golden baked bread at once with the right arm, then set them in the beige breadbasket.",
+    "Put the soft golden bread and the sponge-textured golden bread into the light beige rectangular breadbasket using two arms.",
+    "Grab the soft doughy bread and the golden brown bread quickly and drop them into the rectangular breadbasket.",
+    "Simultaneously use the right arm to drop the round bread with crusty texture and the golden brown bread in the beige breadbasket.",
+    "Grab both the golden bread loaf with soft inside and the fluffy baked bread with the right arm and place in the breadbasket for bread storage.",
+    "Pick the braided bread loaf and the bread with soft texture and set them in the beige breadbasket.",
+    "Pick the smooth crusty small bread and the fluffy baked bread, place them in the light and textured breadbasket.",
+    "Use two arms and set the soft doughy bread, the medium bread with rounded sides in the beige breadbasket.",
+    "Take the braided bread loaf and the square-shaped bread piece to the textured beige breadbasket",
+    "Shift the soft doughy bread and the medium-sized bread piece into the plastic mesh breadbasket",
+    "Simultaneously grab the soft golden bread and the square-shaped bread piece using the right arm, then drop them in the plastic breadbasket with mesh sides.",
+    "Grab both the round bread with braided top and the soft square bread, drop into the beige breadbasket.",
+    "Use both arms to move the smooth crusty small bread, the square-shaped bread piece to the beige breadbasket for holding bread.",
+    "Use the right arm to place the smooth crusty small bread and the square-shaped bread piece into the medium rectangular breadbasket.",
+    "Shift the soft golden bread and the soft square bread together to the light beige rectangular breadbasket.",
+    "Grab two breads the round bread with braided top and the bread with rounded edges and place in the light beige rectangular breadbasket.",
+    "Take the golden brown bread and the rounded square loaf then place in the plastic mesh breadbasket.",
+    "Pick the golden bread loaf with soft inside and the bread with rounded edges for the the textured beige breadbasket",
+    "Move the small bread and the sponge-textured golden bread to the breadbasket for bread storage",
+    "Move the smooth crusty small bread and the light brown porous bread at once into the breadbasket with textured sides.",
+    "Take the soft golden bread and the soft square bread together and place them into the breadbasket with textured sides.",
+    "Pick up both the soft golden bread and the fluffy baked bread, then place them in the breadbasket for bread storage.",
+    "Simultaneously grab the round bread with braided top and the rounded square loaf, drop in the plastic breadbasket with mesh sides.",
+    "Take the soft golden bread and the bread with soft texture, place them inside the medium rectangular breadbasket.",
+    "Place the round bread with crusty texture and the medium bread with rounded sides in the beige breadbasket using the right arm",
+    "Lift the small bread and the bread with rounded edges with two arms, put in the plastic mesh breadbasket.",
+    "Lift the small golden baked bread and the medium bread with rounded sides at once with the right arm, then set them in the beige breadbasket.",
+    "Put the braided bread loaf and the medium-sized bread piece into the breadbasket with textured sides using two arms.",
+    "Grab the small golden baked bread and the medium-sized bread piece quickly and drop them into the plastic breadbasket with mesh sides.",
+    "Simultaneously use the right arm to drop the round bread with crusty texture and the sponge-textured golden bread in the light beige rectangular breadbasket.",
+    "Grab both the bread with golden crust and the golden brown bread with the right arm and place in the plastic breadbasket with mesh sides.",
+    "Pick the golden brown bread and the golden brown bread and set them in the beige breadbasket.",
+    "Pick the round bread with braided top and the soft square bread, place them in the woven light beige breadbasket.",
+    "Use two arms and set the braided bread loaf, the bread with soft texture in the woven light beige breadbasket.",
+    "Take the round bread with braided top and the sponge-textured golden bread to the textured beige breadbasket",
+    "Shift the smooth crusty small bread and the sponge-textured golden bread into the rectangular breadbasket",
+    "Simultaneously grab the smooth crusty small bread and the medium-sized bread piece using the right arm, then drop them in the rectangular breadbasket.",
+    "Grab both the soft doughy bread and the bread with soft texture, drop into the light beige rectangular breadbasket.",
+    "Use both arms to move the small bread, the medium-sized bread piece to the plastic mesh breadbasket.",
+    "Use the right arm to place the smooth crusty small bread and the rounded square loaf into the textured beige breadbasket.",
+    "Shift the smooth crusty small bread and the bread with soft texture together to the light beige rectangular breadbasket.",
+    "Grab two breads the golden brown bread with braided design and the golden brown bread and place in the plastic mesh breadbasket.",
+    "Take the soft golden bread and the light brown porous bread then place in the light beige rectangular breadbasket.",
+    "Pick the golden brown bread with braided design and the medium-sized bread piece for the the plastic mesh breadbasket",
+    "Move the round bread with crusty texture and the sponge-textured golden bread to the textured beige breadbasket",
+    "Move the soft golden bread and the fluffy baked bread at once into the light and textured breadbasket.",
+    "Take the soft doughy bread and the medium bread with rounded sides together and place them into the beige breadbasket.",
+    "Pick up both the small bread and the medium bread with rounded sides, then place them in the beige breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the rounded square loaf, drop in the textured beige breadbasket.",
+    "Take the soft golden bread and the square-shaped bread piece, place them inside the rectangular breadbasket.",
+    "Place the golden brown bread and the medium-sized bread piece in the breadbasket for bread storage using the right arm",
+    "Lift the soft doughy bread and the golden baked bread with two arms, put in the breadbasket with textured sides.",
+    "Lift the bread with golden crust and the golden brown bread at once with the right arm, then set them in the medium rectangular breadbasket.",
+    "Put the round bread with braided top and the golden brown bread into the beige breadbasket for holding bread using two arms.",
+    "Grab the soft doughy bread and the bread with rounded edges quickly and drop them into the beige breadbasket.",
+    "Simultaneously use the right arm to drop the soft golden bread and the fluffy baked bread in the rectangular breadbasket.",
+    "Grab both the golden brown bread and the bread with rounded edges with the right arm and place in the textured beige breadbasket.",
+    "Pick the golden brown bread and the rounded square loaf and set them in the breadbasket with textured sides.",
+    "Pick the smooth crusty small bread and the golden brown bread, place them in the woven light beige breadbasket.",
+    "Use two arms and set the round bread with braided top, the golden brown bread in the rectangular breadbasket.",
+    "Take the braided bread loaf and the fluffy baked bread to the woven light beige breadbasket",
+    "Shift the bread with golden crust and the medium-sized bread piece into the light and textured breadbasket",
+    "Simultaneously grab the small bread and the medium bread with rounded sides using the right arm, then drop them in the woven light beige breadbasket.",
+    "Grab both the golden brown bread with braided design and the medium bread with rounded sides, drop into the plastic breadbasket with mesh sides.",
+    "Use both arms to move the round bread with braided top, the medium-sized bread piece to the medium rectangular breadbasket.",
+    "Use the right arm to place the braided bread loaf and the golden baked bread into the plastic mesh breadbasket.",
+    "Shift the round bread with crusty texture and the square-shaped bread piece together to the rectangular breadbasket.",
+    "Grab two breads the golden bread loaf with soft inside and the bread with rounded edges and place in the light and textured breadbasket.",
+    "Take the smooth crusty small bread and the fluffy baked bread then place in the medium rectangular breadbasket.",
+    "Pick the golden bread loaf with soft inside and the medium-sized bread piece for the the woven light beige breadbasket",
+    "Move the braided bread loaf and the bread with soft texture to the plastic mesh breadbasket",
+    "Move the round bread with braided top and the bread with rounded edges at once into the woven light beige breadbasket.",
+    "Take the round bread with braided top and the medium-sized bread piece together and place them into the woven light beige breadbasket.",
+    "Pick up both the small bread and the fluffy baked bread, then place them in the beige breadbasket.",
+    "Simultaneously grab the round bread with braided top and the square-shaped bread piece, drop in the textured beige breadbasket.",
+    "Take the golden bread loaf with soft inside and the medium bread with rounded sides, place them inside the beige breadbasket.",
+    "Place the golden bread loaf with soft inside and the fluffy baked bread in the plastic mesh breadbasket using the right arm",
+    "Lift the soft doughy bread and the square-shaped bread piece with two arms, put in the light beige rectangular breadbasket.",
+    "Lift the bread with golden crust and the square-shaped bread piece at once with the right arm, then set them in the medium rectangular breadbasket.",
+    "Put the round bread with crusty texture and the sponge-textured golden bread into the beige breadbasket using two arms.",
+    "Grab the golden bread loaf with soft inside and the medium bread with rounded sides quickly and drop them into the woven light beige breadbasket.",
+    "Simultaneously use the right arm to drop the golden brown bread and the soft square bread in the medium rectangular breadbasket."
+  ],
+  "unseen": [
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the shallow rectangular breadbasket using the right arm",
+    "Pick the round braided loaf and the soft bread with golden edges and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick the braided top round bread and the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick up the braided top round bread and the spongy golden brown bread, then place them in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges with two arms, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the braided top round bread and the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop them into the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the spongy golden brown bread and put them in the woven shallow breadbasket.",
+    "Place the round braided loaf and the spongy golden brown bread into the woven shallow breadbasket using the right arm",
+    "Pick the round braided loaf and the spongy golden brown bread and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick the round braided loaf and the spongy golden brown bread and place in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the braided top round bread and the square bread with light spots, then place them in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the soft bread with golden edges, drop in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and put them in the shallow rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the breadbasket with woven pattern using the right arm",
+    "Pick the round braided loaf and the square bread with light spots and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick the braided top round bread and the spongy golden brown bread and place in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick up the braided top round bread and the spongy golden brown bread, then place them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and drop them into the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the spongy golden brown bread and put them in the woven shallow breadbasket.",
+    "Place the round braided loaf and the soft bread with golden edges into the shallow rectangular breadbasket using the right arm",
+    "Pick the round braided loaf and the soft bread with golden edges and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the braided top round bread and the soft bread with golden edges, then place them in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop them into the woven shallow breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and put them in the woven shallow breadbasket.",
+    "Place the braided top round bread and the soft bread with golden edges into the breadbasket with woven pattern using the right arm",
+    "Pick the round braided loaf and the spongy golden brown bread and place them in the breadbasket with woven pattern.",
+    "Use the right arm to pick the round braided loaf and the spongy golden brown bread and place in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick up the round braided loaf and the square bread with light spots, then place them in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots and put them in the shallow rectangular breadbasket.",
+    "Place the braided top round bread and the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the palm-sized braided golden bread and the soft bread with golden edges and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and the soft bread with golden edges and place in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the round braided loaf and the soft bread with golden edges, then place them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges with two arms, place in the shallow rectangular breadbasket.",
+    "Use one arm to grab the round braided loaf and the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the square bread with light spots and drop them into the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and put them in the breadbasket with woven pattern.",
+    "Place the round braided loaf and the square bread with light spots into the woven shallow breadbasket using the right arm",
+    "Pick the palm-sized braided golden bread and the soft bread with golden edges and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick the round braided loaf and the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick up the round braided loaf and the spongy golden brown bread, then place them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the palm-sized braided golden bread and the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop them into the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the soft bread with golden edges and put them in the breadbasket with woven pattern.",
+    "Place the round braided loaf and the spongy golden brown bread into the woven shallow breadbasket using the right arm",
+    "Pick the palm-sized braided golden bread and the soft bread with golden edges and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and the spongy golden brown bread and place in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the braided top round bread and the square bread with light spots, then place them in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the palm-sized braided golden bread and the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the soft bread with golden edges and drop them into the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread and put them in the shallow rectangular breadbasket.",
+    "Place the round braided loaf and the spongy golden brown bread into the breadbasket with woven pattern using the right arm",
+    "Pick the braided top round bread and the square bread with light spots and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick the braided top round bread and the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the palm-sized braided golden bread and the spongy golden brown bread, then place them in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the spongy golden brown bread with two arms, place in the woven shallow breadbasket.",
+    "Use one arm to grab the round braided loaf and the spongy golden brown bread, drop in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the square bread with light spots and drop them into the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the spongy golden brown bread and put them in the breadbasket with woven pattern.",
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the shallow rectangular breadbasket using the right arm",
+    "Pick the palm-sized braided golden bread and the soft bread with golden edges and place them in the woven shallow breadbasket.",
+    "Use the right arm to pick the round braided loaf and the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the palm-sized braided golden bread and the square bread with light spots, drop in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop them into the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and put them in the breadbasket with woven pattern.",
+    "Place the round braided loaf and the square bread with light spots into the breadbasket with woven pattern using the right arm",
+    "Pick the palm-sized braided golden bread and the soft bread with golden edges and place them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the braided top round bread and the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the soft bread with golden edges with two arms, place in the breadbasket with woven pattern.",
+    "Use one arm to grab the round braided loaf and the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and drop them into the woven shallow breadbasket.",
+    "Grab the braided top round bread and the square bread with light spots and put them in the woven shallow breadbasket.",
+    "Place the braided top round bread and the square bread with light spots into the breadbasket with woven pattern using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode37.json b/place_bread_basket/demo_randomized/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..6314f386443b68dbb0ad645f35ea8baf67001c7a
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bread with warm golden color and the sponge-textured golden bread together and place them into the beige plastic breadbasket.",
+    "Put the hand-sized oval loaf and the bread with soft texture into the medium oval basket for bread using two arms.",
+    "Pick the bread with warm golden color and the bread with soft texture and set them in the beige breadbasket.",
+    "Use both arms to move the hand-sized oval loaf, the square-shaped bread piece to the beige plastic breadbasket.",
+    "Simultaneously grab the brown loaf and the soft square bread, drop in the beige basket with white grid design.",
+    "Pick the small golden brown bread and the light brown porous bread for the the beige plastic breadbasket",
+    "Shift the bread with golden-brown crust and the rounded square loaf into the medium oval basket for bread",
+    "Grab the small golden brown bread and the bread with soft texture quickly and drop them into the basket for carrying bread beige.",
+    "Pick up both the bread with split top and the golden brown bread, then place them in the medium plastic breadbasket oval shape.",
+    "Move the bread with golden-brown crust and the rounded square loaf to the smooth textured breadbasket",
+    "Place the golden bread loaf and the bread with rounded edges in the smooth textured breadbasket using the left arm",
+    "Pick the hand-sized oval loaf and the fluffy baked bread, place them in the smooth textured breadbasket.",
+    "Move the golden bread loaf and the square-shaped bread piece at once into the medium breadbasket with perforated sides.",
+    "Lift the brown loaf and the fluffy baked bread at once with the left arm, then set them in the medium plastic breadbasket oval shape.",
+    "Grab both the bread with golden-brown crust and the fluffy baked bread, drop into the white oval breadbasket.",
+    "Use the left arm to place the hand-sized oval loaf and the bread with soft texture into the oval-shaped breadbasket.",
+    "Grab both the small golden brown bread and the golden baked bread with the left arm and place in the beige plastic breadbasket.",
+    "Grab two breads the small loaf with curved top and the golden brown bread and place in the medium breadbasket with perforated sides.",
+    "Take the golden bread loaf and the sponge-textured golden bread then place in the medium plastic breadbasket oval shape.",
+    "Take the hand-sized oval loaf and the bread with rounded edges to the oval perforated breadbasket white edges",
+    "Use two arms and set the golden bread loaf, the bread with soft texture in the medium plastic breadbasket oval shape.",
+    "Simultaneously grab the hand-sized oval loaf and the bread with rounded edges using the left arm, then drop them in the smooth textured breadbasket.",
+    "Shift the bread with golden-brown crust and the fluffy baked bread together to the beige plastic breadbasket.",
+    "Lift the small loaf with curved top and the soft square bread with two arms, put in the beige plastic breadbasket.",
+    "Take the bread with warm golden color and the sponge-textured golden bread, place them inside the oval-shaped breadbasket.",
+    "Simultaneously use the left arm to drop the bread with split top and the golden baked bread in the beige plastic breadbasket.",
+    "Take the small golden brown bread and the golden brown bread together and place them into the smooth textured breadbasket.",
+    "Put the small loaf with curved top and the golden brown bread into the beige basket with white grid design using two arms.",
+    "Pick the small loaf with curved top and the square-shaped bread piece and set them in the medium oval basket for bread.",
+    "Use both arms to move the hand-sized oval loaf, the rounded square loaf to the smooth textured breadbasket.",
+    "Simultaneously grab the bread with golden-brown crust and the square-shaped bread piece, drop in the beige breadbasket.",
+    "Pick the bread with golden-brown crust and the bread with rounded edges for the the beige breadbasket",
+    "Shift the brown loaf and the rounded square loaf into the beige plastic breadbasket",
+    "Grab the light brown loaf with smooth sides and the golden brown bread quickly and drop them into the beige plastic breadbasket.",
+    "Pick up both the bread with golden-brown crust and the rounded square loaf, then place them in the medium plastic breadbasket oval shape.",
+    "Move the bread with golden-brown crust and the rounded square loaf to the basket for bread beige plastic",
+    "Place the small loaf with curved top and the bread with rounded edges in the beige plastic breadbasket using the left arm",
+    "Pick the bread with split top and the medium bread with rounded sides, place them in the oval perforated breadbasket white edges.",
+    "Move the small golden brown bread and the sponge-textured golden bread at once into the smooth textured breadbasket.",
+    "Lift the bread with split top and the square-shaped bread piece at once with the left arm, then set them in the basket for bread beige plastic.",
+    "Grab both the brown loaf and the golden brown bread, drop into the medium oval basket for bread.",
+    "Use the left arm to place the bread with golden-brown crust and the bread with rounded edges into the oval-shaped breadbasket.",
+    "Grab both the bread with split top and the soft square bread with the left arm and place in the oval perforated breadbasket white edges.",
+    "Grab two breads the bread with split top and the medium bread with rounded sides and place in the medium plastic breadbasket oval shape.",
+    "Take the bread with warm golden color and the bread with soft texture then place in the medium plastic breadbasket oval shape.",
+    "Take the small loaf with curved top and the soft square bread to the oval-shaped breadbasket",
+    "Use two arms and set the small golden brown bread, the sponge-textured golden bread in the beige basket with white grid design.",
+    "Simultaneously grab the light brown loaf with smooth sides and the medium-sized bread piece using the left arm, then drop them in the beige plastic breadbasket.",
+    "Shift the light brown loaf with smooth sides and the sponge-textured golden bread together to the beige plastic breadbasket.",
+    "Lift the bread with split top and the bread with rounded edges with two arms, put in the oval-shaped breadbasket.",
+    "Take the small golden brown bread and the light brown porous bread, place them inside the beige breadbasket.",
+    "Simultaneously use the left arm to drop the light brown loaf with smooth sides and the sponge-textured golden bread in the beige plastic breadbasket.",
+    "Take the hand-sized oval loaf and the square-shaped bread piece together and place them into the basket for bread beige plastic.",
+    "Put the bread with split top and the bread with rounded edges into the oval-shaped breadbasket using two arms.",
+    "Pick the brown loaf and the medium bread with rounded sides and set them in the medium oval basket for bread.",
+    "Use both arms to move the soft brown bread, the golden baked bread to the medium breadbasket with perforated sides.",
+    "Simultaneously grab the light brown bread with ridges and the square-shaped bread piece, drop in the oval perforated breadbasket white edges.",
+    "Pick the small golden brown bread and the bread with rounded edges for the the oval-shaped breadbasket",
+    "Shift the brown loaf and the square-shaped bread piece into the oval perforated breadbasket white edges",
+    "Grab the bread with golden-brown crust and the medium bread with rounded sides quickly and drop them into the basket for carrying bread beige.",
+    "Pick up both the bread with warm golden color and the medium-sized bread piece, then place them in the basket for bread beige plastic.",
+    "Move the bread with golden-brown crust and the bread with rounded edges to the beige basket with white grid design",
+    "Place the light brown bread with ridges and the medium-sized bread piece in the beige plastic breadbasket using the left arm",
+    "Pick the soft brown bread and the soft square bread, place them in the oval-shaped breadbasket.",
+    "Move the smooth loaf with rounded edges and the bread with rounded edges at once into the oval-shaped breadbasket.",
+    "Lift the bread with split top and the soft square bread at once with the left arm, then set them in the oval perforated breadbasket white edges.",
+    "Grab both the smooth loaf with rounded edges and the square-shaped bread piece, drop into the smooth textured breadbasket.",
+    "Use the left arm to place the hand-sized oval loaf and the medium bread with rounded sides into the basket for carrying bread beige.",
+    "Grab both the bread with split top and the medium-sized bread piece with the left arm and place in the basket for bread beige plastic.",
+    "Grab two breads the golden bread loaf and the sponge-textured golden bread and place in the medium plastic breadbasket oval shape.",
+    "Take the bread with warm golden color and the bread with rounded edges then place in the basket for bread beige plastic.",
+    "Take the bread with golden-brown crust and the bread with soft texture to the oval perforated breadbasket white edges",
+    "Use two arms and set the smooth loaf with rounded edges, the golden baked bread in the oval perforated breadbasket white edges.",
+    "Simultaneously grab the small loaf with curved top and the golden brown bread using the left arm, then drop them in the medium plastic breadbasket oval shape.",
+    "Shift the brown loaf and the sponge-textured golden bread together to the basket for carrying bread beige.",
+    "Lift the bread with warm golden color and the square-shaped bread piece with two arms, put in the white oval breadbasket.",
+    "Take the golden bread loaf and the soft square bread, place them inside the oval perforated breadbasket white edges.",
+    "Simultaneously use the left arm to drop the light brown loaf with smooth sides and the sponge-textured golden bread in the basket for bread beige plastic.",
+    "Take the light brown loaf with smooth sides and the medium-sized bread piece together and place them into the oval perforated breadbasket white edges.",
+    "Put the small loaf with curved top and the medium-sized bread piece into the white oval breadbasket using two arms.",
+    "Pick the small golden brown bread and the medium bread with rounded sides and set them in the white oval breadbasket.",
+    "Use both arms to move the bread with split top, the square-shaped bread piece to the beige breadbasket.",
+    "Simultaneously grab the bread with golden-brown crust and the golden brown bread, drop in the smooth textured breadbasket.",
+    "Pick the bread with warm golden color and the medium bread with rounded sides for the the smooth textured breadbasket",
+    "Shift the brown loaf and the rounded square loaf into the oval-shaped breadbasket",
+    "Grab the bread with split top and the rounded square loaf quickly and drop them into the oval perforated breadbasket white edges.",
+    "Pick up both the light brown bread with ridges and the golden baked bread, then place them in the oval perforated breadbasket white edges.",
+    "Move the light brown bread with ridges and the golden brown bread to the white oval breadbasket",
+    "Place the small golden brown bread and the sponge-textured golden bread in the medium oval basket for bread using the left arm",
+    "Pick the light brown loaf with smooth sides and the golden brown bread, place them in the basket for carrying bread beige.",
+    "Move the light brown bread with ridges and the medium bread with rounded sides at once into the medium oval basket for bread.",
+    "Lift the small golden brown bread and the medium-sized bread piece at once with the left arm, then set them in the beige plastic breadbasket.",
+    "Grab both the small loaf with curved top and the bread with soft texture, drop into the oval-shaped breadbasket.",
+    "Use the left arm to place the bread with split top and the medium bread with rounded sides into the oval-shaped breadbasket.",
+    "Grab both the soft brown bread and the fluffy baked bread with the left arm and place in the oval-shaped breadbasket.",
+    "Grab two breads the soft brown bread and the sponge-textured golden bread and place in the white oval breadbasket.",
+    "Take the small loaf with curved top and the medium-sized bread piece then place in the beige basket with white grid design.",
+    "Take the soft brown bread and the light brown porous bread to the basket for carrying bread beige",
+    "Use two arms and set the light brown loaf with smooth sides, the soft square bread in the beige breadbasket.",
+    "Simultaneously grab the soft brown bread and the bread with soft texture using the left arm, then drop them in the beige basket with white grid design."
+  ],
+  "unseen": [
+    "Pick the oval-shaped soft bread and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Grab the oval bread and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the square bread with light spots and put them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the rounded oval bread and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Use the left arm to pick up the oval-shaped soft bread and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Grab the rounded oval bread and the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the rounded oval bread and the square bread with light spots and place in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread and drop them into the breadbasket with hollowed white walls.",
+    "Place the oval-shaped soft bread and the square bread with light spots into the white basket with beige bottom using the left arm",
+    "Pick the oval-shaped soft bread and the soft bread with golden edges and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the soft bread with golden edges with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval-shaped soft bread and the spongy golden brown bread, drop in the white basket with beige bottom.",
+    "Use the left arm to pick up the oval bread and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the rounded oval bread and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the square bread with light spots and drop them into the breadbasket with smooth bottom grid sides.",
+    "Place the oval-shaped soft bread and the square bread with light spots into the breadbasket with hollowed white walls using the left arm",
+    "Pick the rounded oval bread and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the square bread with light spots with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rounded oval bread and the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the rounded oval bread and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the oval-shaped soft bread and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the spongy golden brown bread and drop them into the breadbasket with hollowed white walls.",
+    "Place the rounded oval bread and the spongy golden brown bread into the breadbasket with hollowed white walls using the left arm",
+    "Pick the oval bread and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the square bread with light spots with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rounded oval bread and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Use the left arm to pick up the oval bread and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick the oval bread and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and drop them into the white basket with beige bottom.",
+    "Place the oval bread and the spongy golden brown bread into the white basket with beige bottom using the left arm",
+    "Pick the oval-shaped soft bread and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the oval bread and the square bread with light spots and put them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval bread and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Use the left arm to pick up the rounded oval bread and the square bread with light spots, then place them in the white basket with beige bottom.",
+    "Grab the oval bread and the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the oval bread and the spongy golden brown bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Place the rounded oval bread and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the left arm",
+    "Pick the oval bread and the square bread with light spots and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the square bread with light spots with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval-shaped soft bread and the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the rounded oval bread and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the rounded oval bread and the square bread with light spots and place in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and drop them into the white basket with beige bottom.",
+    "Place the oval bread and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the left arm",
+    "Pick the rounded oval bread and the square bread with light spots and place them in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the spongy golden brown bread with two arms, place in the white basket with beige bottom.",
+    "Grab the rounded oval bread and the square bread with light spots and put them in the white basket with beige bottom.",
+    "Use one arm to grab the oval-shaped soft bread and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Use the left arm to pick up the rounded oval bread and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the oval-shaped soft bread and the spongy golden brown bread and place in the white basket with beige bottom.",
+    "Grab the rounded oval bread and the soft bread with golden edges and drop them into the breadbasket with smooth bottom grid sides.",
+    "Place the rounded oval bread and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the left arm",
+    "Pick the oval-shaped soft bread and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Grab the oval bread and the soft bread with golden edges with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the square bread with light spots and put them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the oval bread and the square bread with light spots, drop in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the oval-shaped soft bread and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Grab the rounded oval bread and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick the oval-shaped soft bread and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Grab the oval bread and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Place the oval bread and the soft bread with golden edges into the breadbasket with hollowed white walls using the left arm",
+    "Pick the oval bread and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Grab the oval bread and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the oval bread and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Use one arm to grab the oval-shaped soft bread and the square bread with light spots, drop in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the oval bread and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the rounded oval bread and the spongy golden brown bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Place the rounded oval bread and the square bread with light spots into the white basket with beige bottom using the left arm",
+    "Pick the oval-shaped soft bread and the square bread with light spots and place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the rounded oval bread and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the oval bread and the spongy golden brown bread, drop in the white basket with beige bottom.",
+    "Use the left arm to pick up the oval-shaped soft bread and the square bread with light spots, then place them in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the rounded oval bread and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges and drop them into the breadbasket with hollowed white walls.",
+    "Place the rounded oval bread and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the left arm",
+    "Pick the oval bread and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Grab the oval bread and the soft bread with golden edges with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and put them in the white basket with beige bottom.",
+    "Use one arm to grab the rounded oval bread and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Use the left arm to pick up the oval-shaped soft bread and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick the oval-shaped soft bread and the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Place the rounded oval bread and the square bread with light spots into the breadbasket with hollowed white walls using the left arm",
+    "Pick the oval-shaped soft bread and the spongy golden brown bread and place them in the breadbasket with hollowed white walls."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode38.json b/place_bread_basket/demo_randomized/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..d457e6f23a69d4f642bbed200e6d08731ef44d50
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the golden crusted bread slice and the slice-shaped bread with two arms, put in the light beige rectangular breadbasket.",
+    "Take the brown bread loaf and the square loaf of bread then place in the rectangular breadbasket.",
+    "Grab both the slice-shaped bread and the bread with golden surface color, drop into the medium rectangular breadbasket.",
+    "Pick the bread loaf with square shape and the square loaf of bread and set them in the woven light beige breadbasket.",
+    "Place the slice-shaped bread and the bread with golden surface color in the plastic mesh breadbasket using the dual arm",
+    "Take the bread loaf with square shape and the soft golden baked bread together and place them into the medium rectangular breadbasket.",
+    "Put the bread loaf with square shape and the slice-shaped bread into the light beige rectangular breadbasket using two arms.",
+    "Use the dual arm to place the bread with firm crust edges and the brown bread loaf into the plastic mesh breadbasket.",
+    "Simultaneously grab the bread with rounded corners and the golden crusted bread slice, drop in the textured beige breadbasket.",
+    "Simultaneously grab the square loaf of bread and the slice-shaped bread using the dual arm, then drop them in the light beige rectangular breadbasket.",
+    "Lift the slice-shaped bread and the square loaf of bread at once with the dual arm, then set them in the plastic mesh breadbasket.",
+    "Simultaneously use the dual arm to drop the square loaf of bread and the golden bread in the breadbasket for bread storage.",
+    "Shift the bread with golden surface color and the golden crusted bread slice together to the beige breadbasket.",
+    "Grab both the golden brown loaf-shaped bread and the bread loaf with square shape with the dual arm and place in the plastic mesh breadbasket.",
+    "Use two arms and set the golden bread, the brown bread loaf in the medium rectangular breadbasket.",
+    "Pick up both the golden brown loaf-shaped bread and the golden bread, then place them in the beige breadbasket for holding bread.",
+    "Pick the golden crusted bread slice and the golden brown loaf-shaped bread, place them in the light and textured breadbasket.",
+    "Move the bread loaf with square shape and the soft golden baked bread at once into the light beige rectangular breadbasket.",
+    "Grab two breads the bread with golden surface color and the golden crusted bread slice and place in the breadbasket for bread storage.",
+    "Take the square loaf of bread and the rectangular bread soft inside to the breadbasket with textured sides",
+    "Move the golden brown loaf-shaped bread and the bread loaf with square shape to the plastic breadbasket with mesh sides",
+    "Shift the bread with firm crust edges and the bread with golden surface color into the beige breadbasket for holding bread",
+    "Pick the rectangular bread soft inside and the bread with rounded corners for the the medium rectangular breadbasket",
+    "Grab the brown bread loaf and the bread with firm crust edges quickly and drop them into the breadbasket with textured sides.",
+    "Use both arms to move the bread with firm crust edges, the square loaf of bread to the rectangular breadbasket.",
+    "Take the brown bread loaf and the bread with rounded corners, place them inside the light beige rectangular breadbasket.",
+    "Lift the bread loaf with square shape and the soft golden baked bread with two arms, put in the breadbasket for bread storage.",
+    "Take the bread with golden surface color and the brown bread loaf then place in the beige breadbasket for holding bread.",
+    "Grab both the slice-shaped bread and the golden brown loaf-shaped bread, drop into the beige breadbasket.",
+    "Pick the rectangular bread soft inside and the bread loaf with square shape and set them in the beige breadbasket.",
+    "Place the square loaf of bread and the square loaf of bread in the breadbasket for bread storage using the dual arm",
+    "Take the square loaf of bread and the rectangular bread soft inside together and place them into the breadbasket with textured sides.",
+    "Put the golden crusted bread slice and the bread with golden surface color into the beige breadbasket for holding bread using two arms.",
+    "Use the dual arm to place the rectangular bread soft inside and the square loaf of bread into the beige breadbasket.",
+    "Simultaneously grab the bread with firm crust edges and the golden brown loaf-shaped bread, drop in the beige breadbasket.",
+    "Simultaneously grab the bread with golden surface color and the bread loaf with square shape using the dual arm, then drop them in the beige breadbasket.",
+    "Lift the brown bread loaf and the brown bread loaf at once with the dual arm, then set them in the beige breadbasket.",
+    "Simultaneously use the dual arm to drop the golden bread and the rectangular bread soft inside in the light beige rectangular breadbasket.",
+    "Shift the square loaf of bread and the slice-shaped bread together to the beige breadbasket for holding bread.",
+    "Grab both the bread with firm crust edges and the bread with firm crust edges with the dual arm and place in the breadbasket with textured sides.",
+    "Use two arms and set the brown bread loaf, the golden bread in the light and textured breadbasket.",
+    "Pick up both the brown bread loaf and the golden crusted bread slice, then place them in the breadbasket for bread storage.",
+    "Pick the bread with firm crust edges and the bread with rounded corners, place them in the woven light beige breadbasket.",
+    "Move the golden crusted bread slice and the bread with golden surface color at once into the light and textured breadbasket.",
+    "Grab two breads the bread with rounded corners and the soft golden baked bread and place in the rectangular breadbasket.",
+    "Take the bread with golden surface color and the bread loaf with square shape to the breadbasket for bread storage",
+    "Move the brown bread loaf and the slice-shaped bread to the rectangular breadbasket",
+    "Shift the brown bread loaf and the golden brown loaf-shaped bread into the light and textured breadbasket",
+    "Pick the golden brown loaf-shaped bread and the slice-shaped bread for the the rectangular breadbasket",
+    "Grab the bread with golden surface color and the golden brown loaf-shaped bread quickly and drop them into the textured beige breadbasket.",
+    "Use both arms to move the golden bread, the bread with firm crust edges to the medium rectangular breadbasket.",
+    "Take the bread with golden surface color and the rectangular bread soft inside, place them inside the light beige rectangular breadbasket.",
+    "Lift the golden bread and the golden brown loaf-shaped bread with two arms, put in the light and textured breadbasket.",
+    "Take the bread with firm crust edges and the slice-shaped bread then place in the woven light beige breadbasket.",
+    "Grab both the slice-shaped bread and the bread with golden surface color, drop into the plastic mesh breadbasket.",
+    "Pick the bread with rounded corners and the golden brown loaf-shaped bread and set them in the plastic breadbasket with mesh sides.",
+    "Place the bread with rounded corners and the rectangular bread soft inside in the woven light beige breadbasket using the dual arm",
+    "Take the square loaf of bread and the bread loaf with square shape together and place them into the plastic mesh breadbasket.",
+    "Put the square loaf of bread and the brown bread loaf into the woven light beige breadbasket using two arms.",
+    "Use the dual arm to place the soft golden baked bread and the golden bread into the breadbasket for bread storage.",
+    "Simultaneously grab the bread with firm crust edges and the golden crusted bread slice, drop in the breadbasket with textured sides.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the square loaf of bread using the dual arm, then drop them in the light beige rectangular breadbasket.",
+    "Lift the golden brown loaf-shaped bread and the bread with golden surface color at once with the dual arm, then set them in the plastic mesh breadbasket.",
+    "Simultaneously use the dual arm to drop the bread loaf with square shape and the brown bread loaf in the plastic breadbasket with mesh sides.",
+    "Shift the soft golden baked bread and the slice-shaped bread together to the light beige rectangular breadbasket.",
+    "Grab both the golden crusted bread slice and the square loaf of bread with the dual arm and place in the textured beige breadbasket.",
+    "Use two arms and set the brown bread loaf, the bread with rounded corners in the light and textured breadbasket.",
+    "Pick up both the soft golden baked bread and the bread with firm crust edges, then place them in the beige breadbasket.",
+    "Pick the bread with rounded corners and the rectangular bread soft inside, place them in the beige breadbasket.",
+    "Move the golden bread and the slice-shaped bread at once into the breadbasket with textured sides.",
+    "Grab two breads the bread with golden surface color and the square loaf of bread and place in the woven light beige breadbasket.",
+    "Take the bread with golden surface color and the slice-shaped bread to the medium rectangular breadbasket",
+    "Move the brown bread loaf and the bread with firm crust edges to the medium rectangular breadbasket",
+    "Shift the square loaf of bread and the bread loaf with square shape into the plastic mesh breadbasket",
+    "Pick the golden crusted bread slice and the brown bread loaf for the the rectangular breadbasket",
+    "Grab the golden bread and the bread loaf with square shape quickly and drop them into the breadbasket with textured sides.",
+    "Use both arms to move the bread with rounded corners, the square loaf of bread to the rectangular breadbasket.",
+    "Take the square loaf of bread and the slice-shaped bread, place them inside the light and textured breadbasket.",
+    "Lift the bread with golden surface color and the golden bread with two arms, put in the beige breadbasket.",
+    "Take the brown bread loaf and the golden crusted bread slice then place in the rectangular breadbasket.",
+    "Grab both the golden crusted bread slice and the square loaf of bread, drop into the beige breadbasket for holding bread.",
+    "Pick the golden brown loaf-shaped bread and the bread with rounded corners and set them in the beige breadbasket for holding bread.",
+    "Place the bread loaf with square shape and the brown bread loaf in the light beige rectangular breadbasket using the dual arm",
+    "Take the rectangular bread soft inside and the bread loaf with square shape together and place them into the breadbasket for bread storage.",
+    "Put the golden crusted bread slice and the golden crusted bread slice into the light beige rectangular breadbasket using two arms.",
+    "Use the dual arm to place the bread with firm crust edges and the square loaf of bread into the plastic mesh breadbasket.",
+    "Simultaneously grab the bread with firm crust edges and the slice-shaped bread, drop in the beige breadbasket.",
+    "Simultaneously grab the slice-shaped bread and the golden brown loaf-shaped bread using the dual arm, then drop them in the woven light beige breadbasket.",
+    "Lift the golden bread and the golden brown loaf-shaped bread at once with the dual arm, then set them in the plastic mesh breadbasket.",
+    "Simultaneously use the dual arm to drop the soft golden baked bread and the square loaf of bread in the breadbasket for bread storage.",
+    "Shift the rectangular bread soft inside and the bread with rounded corners together to the beige breadbasket.",
+    "Grab both the soft golden baked bread and the slice-shaped bread with the dual arm and place in the textured beige breadbasket.",
+    "Use two arms and set the bread loaf with square shape, the golden bread in the woven light beige breadbasket.",
+    "Pick up both the bread loaf with square shape and the bread with firm crust edges, then place them in the breadbasket for bread storage.",
+    "Pick the square loaf of bread and the bread with golden surface color, place them in the rectangular breadbasket.",
+    "Move the rectangular bread soft inside and the bread loaf with square shape at once into the plastic mesh breadbasket.",
+    "Grab two breads the bread with golden surface color and the soft golden baked bread and place in the woven light beige breadbasket.",
+    "Take the bread loaf with square shape and the bread with golden surface color to the woven light beige breadbasket",
+    "Move the golden crusted bread slice and the golden bread to the beige breadbasket for holding bread",
+    "Shift the bread loaf with square shape and the bread with rounded corners into the rectangular breadbasket"
+  ],
+  "unseen": [
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and put them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the small loaf-shaped bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the bread loaf medium-sized and the small loaf-shaped bread, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and drop them into the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and the bread loaf medium-sized and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the soft rectangular bread loaf and place in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and put them in the shallow rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the soft rectangular bread loaf into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the bread loaf medium-sized and the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the bread loaf medium-sized, then place them in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf and drop them into the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the small loaf-shaped bread and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the bread loaf medium-sized and place in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and put them in the shallow rectangular breadbasket.",
+    "Place the soft rectangular bread loaf and the soft rectangular bread loaf into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the bread loaf medium-sized and the bread loaf medium-sized, drop in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread and drop it into the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the soft rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and drop them into the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and the bread loaf medium-sized and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the small loaf-shaped bread and the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and put them in the shallow rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the soft rectangular bread loaf into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the bread loaf medium-sized and the soft rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and drop them into the breadbasket with woven pattern.",
+    "Pick the soft rectangular bread loaf and the small loaf-shaped bread and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the soft rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and put them in the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread and the soft rectangular bread loaf into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the soft rectangular bread loaf and the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Pick the soft rectangular bread loaf and the soft rectangular bread loaf and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the bread loaf medium-sized and place in the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the small loaf-shaped bread and put them in the woven shallow breadbasket.",
+    "Place the small loaf-shaped bread and the soft rectangular bread loaf into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the soft rectangular bread loaf and the bread loaf medium-sized, drop in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the soft rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and drop them into the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and the bread loaf medium-sized and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the soft rectangular bread loaf and place in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Place the bread loaf medium-sized and the small loaf-shaped bread into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the soft rectangular bread loaf and the soft rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the small loaf-shaped bread, then place them in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the small loaf-shaped bread and drop them into the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and the soft rectangular bread loaf and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the bread loaf medium-sized and place in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and put them in the woven shallow breadbasket.",
+    "Place the small loaf-shaped bread and the bread loaf medium-sized into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the soft rectangular bread loaf and the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and drop them into the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the bread loaf medium-sized and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the bread loaf medium-sized and the small loaf-shaped bread and place in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and put them in the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread and the soft rectangular bread loaf into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the small loaf-shaped bread and the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and drop it into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the soft rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and drop them into the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and the small loaf-shaped bread and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the small loaf-shaped bread and put them in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the bread loaf medium-sized into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the bread loaf medium-sized and the bread loaf medium-sized, drop in the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the soft rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf medium-sized and drop them into the breadbasket with woven pattern.",
+    "Pick the bread loaf medium-sized and the bread loaf medium-sized and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the soft rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the soft rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Place the bread loaf medium-sized and the bread loaf medium-sized into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the bread loaf medium-sized and the soft rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft rectangular bread loaf with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread loaf medium-sized and drop them into the breadbasket with woven pattern.",
+    "Pick the small loaf-shaped bread and the small loaf-shaped bread and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the soft rectangular bread loaf and place in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread loaf medium-sized and put them in the shallow rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode39.json b/place_bread_basket/demo_randomized/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb82b2c5bd46a269dbba9d62ee8eda87ebce6b60
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the doughy and soft bread and put it into the woven light beige breadbasket.",
+    "Drop the doughy and soft bread into the beige breadbasket",
+    "Grab the golden bread loaf, drop it into the rectangular breadbasket.",
+    "Grab the bread with rough texture with one hand and set it in the woven light beige breadbasket.",
+    "Use the right arm to grab the golden bread for the textured beige breadbasket",
+    "Put the square-shaped bread into the plastic mesh breadbasket using an arm.",
+    "Pick up the hand-sized bread block and drop it in the beige breadbasket.",
+    "Pick up the soft bread and put it in the beige breadbasket for holding bread.",
+    "Move the hand-sized bread block to the light and textured breadbasket using one arm.",
+    "Use the right arm to grab the doughy and soft bread and drop it inside the beige breadbasket.",
+    "Lift the bread loaf with uneven edges and set it in the woven light beige breadbasket.",
+    "Lift the golden bread loaf and transfer to the light and textured breadbasket.",
+    "Grab the bread loaf with uneven edges with the right arm and drop it in the beige breadbasket.",
+    "Pick the square-shaped bread and move it to the light beige rectangular breadbasket.",
+    "Grab the golden bread for the rectangular breadbasket with the right arm",
+    "Grab the bread with rough texture with an arm and set in the light and textured breadbasket.",
+    "Put the golden bread loaf into the plastic breadbasket with mesh sides after grabbing it.",
+    "Pick the golden bread and put it into the woven light beige breadbasket.",
+    "Drop the bread block with light patches into the plastic breadbasket with mesh sides",
+    "Grab the bread block with light patches, drop it into the light beige rectangular breadbasket.",
+    "Grab the bread block with light patches with one hand and set it in the textured beige breadbasket.",
+    "Use the right arm to grab the cuboid bread for the light and textured breadbasket",
+    "Put the cuboid bread into the light beige rectangular breadbasket using an arm.",
+    "Pick up the golden bread loaf and drop it in the breadbasket for bread storage.",
+    "Pick up the golden bread loaf and put it in the beige breadbasket for holding bread.",
+    "Move the bread loaf with uneven edges to the woven light beige breadbasket using one arm.",
+    "Use the right arm to grab the hand-sized bread block and drop it inside the breadbasket with textured sides.",
+    "Lift the bread loaf with uneven edges and set it in the rectangular breadbasket.",
+    "Lift the cuboid bread and transfer to the textured beige breadbasket.",
+    "Grab the bread with rough texture with the right arm and drop it in the breadbasket for bread storage.",
+    "Pick the light golden brown bread and move it to the light beige rectangular breadbasket.",
+    "Grab the light golden brown bread for the light and textured breadbasket with the right arm",
+    "Grab the bread block with light patches with an arm and set in the beige breadbasket for holding bread.",
+    "Put the bread loaf with bumpy surface into the plastic mesh breadbasket after grabbing it.",
+    "Pick the golden bread loaf and put it into the light and textured breadbasket.",
+    "Drop the golden bread loaf into the plastic mesh breadbasket",
+    "Grab the doughy and soft bread, drop it into the breadbasket with textured sides.",
+    "Grab the golden bread with one hand and set it in the rectangular breadbasket.",
+    "Use the right arm to grab the cuboid bread for the plastic breadbasket with mesh sides",
+    "Put the bread with rough texture into the rectangular breadbasket using an arm.",
+    "Pick up the hand-sized bread block and drop it in the woven light beige breadbasket.",
+    "Pick up the hand-sized bread block and put it in the beige breadbasket for holding bread.",
+    "Move the golden bread loaf to the textured beige breadbasket using one arm.",
+    "Use the right arm to grab the soft bread and drop it inside the breadbasket for bread storage.",
+    "Lift the square-shaped bread and set it in the plastic breadbasket with mesh sides.",
+    "Lift the doughy and soft bread and transfer to the light and textured breadbasket.",
+    "Grab the bread with rough texture with the right arm and drop it in the woven light beige breadbasket.",
+    "Pick the light golden brown bread and move it to the medium rectangular breadbasket.",
+    "Grab the golden bread loaf for the rectangular breadbasket with the right arm",
+    "Grab the hand-sized bread block with an arm and set in the light beige rectangular breadbasket.",
+    "Put the soft bread into the light beige rectangular breadbasket after grabbing it.",
+    "Pick the hand-sized bread block and put it into the breadbasket for bread storage.",
+    "Drop the bread loaf with uneven edges into the beige breadbasket",
+    "Grab the soft bread, drop it into the rectangular breadbasket.",
+    "Grab the bread loaf with uneven edges with one hand and set it in the beige breadbasket for holding bread.",
+    "Use the right arm to grab the square-shaped bread for the light beige rectangular breadbasket",
+    "Put the golden bread into the light beige rectangular breadbasket using an arm.",
+    "Pick up the bread with rough texture and drop it in the breadbasket for bread storage.",
+    "Pick up the golden bread loaf and put it in the breadbasket for bread storage.",
+    "Move the square-shaped bread to the beige breadbasket for holding bread using one arm.",
+    "Use the right arm to grab the cuboid bread and drop it inside the textured beige breadbasket.",
+    "Lift the golden bread and set it in the beige breadbasket.",
+    "Lift the bread block with light patches and transfer to the light and textured breadbasket.",
+    "Grab the golden bread loaf with the right arm and drop it in the breadbasket with textured sides.",
+    "Pick the soft bread and move it to the beige breadbasket for holding bread.",
+    "Grab the light golden brown bread for the rectangular breadbasket with the right arm",
+    "Grab the bread block with light patches with an arm and set in the breadbasket with textured sides.",
+    "Put the bread block with light patches into the breadbasket with textured sides after grabbing it.",
+    "Pick the soft bread and put it into the light beige rectangular breadbasket.",
+    "Drop the golden bread into the textured beige breadbasket",
+    "Grab the light golden brown bread, drop it into the medium rectangular breadbasket.",
+    "Grab the hand-sized bread block with one hand and set it in the rectangular breadbasket.",
+    "Use the right arm to grab the light golden brown bread for the light beige rectangular breadbasket",
+    "Put the doughy and soft bread into the plastic mesh breadbasket using an arm.",
+    "Pick up the bread block with light patches and drop it in the textured beige breadbasket.",
+    "Pick up the soft bread and put it in the textured beige breadbasket.",
+    "Move the bread loaf with uneven edges to the beige breadbasket using one arm.",
+    "Use the right arm to grab the golden bread loaf and drop it inside the textured beige breadbasket.",
+    "Lift the bread block with light patches and set it in the rectangular breadbasket.",
+    "Lift the cuboid bread and transfer to the breadbasket for bread storage.",
+    "Grab the square-shaped bread with the right arm and drop it in the medium rectangular breadbasket.",
+    "Pick the light golden brown bread and move it to the plastic breadbasket with mesh sides.",
+    "Grab the doughy and soft bread for the woven light beige breadbasket with the right arm",
+    "Grab the square-shaped bread with an arm and set in the medium rectangular breadbasket.",
+    "Put the bread block with light patches into the beige breadbasket after grabbing it.",
+    "Pick the hand-sized bread block and put it into the plastic mesh breadbasket.",
+    "Drop the doughy and soft bread into the woven light beige breadbasket",
+    "Grab the bread loaf with bumpy surface, drop it into the beige breadbasket.",
+    "Grab the bread loaf with uneven edges with one hand and set it in the beige breadbasket.",
+    "Use the right arm to grab the bread loaf with uneven edges for the beige breadbasket",
+    "Put the golden bread into the breadbasket for bread storage using an arm.",
+    "Pick up the soft bread and drop it in the medium rectangular breadbasket.",
+    "Pick up the golden bread loaf and put it in the woven light beige breadbasket.",
+    "Move the bread loaf with bumpy surface to the light beige rectangular breadbasket using one arm.",
+    "Use the right arm to grab the cuboid bread and drop it inside the rectangular breadbasket.",
+    "Lift the square-shaped bread and set it in the textured beige breadbasket.",
+    "Lift the doughy and soft bread and transfer to the beige breadbasket.",
+    "Grab the bread with rough texture with the right arm and drop it in the beige breadbasket.",
+    "Pick the square-shaped bread and move it to the beige breadbasket.",
+    "Grab the doughy and soft bread for the breadbasket for bread storage with the right arm"
+  ],
+  "unseen": [
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with woven pattern.",
+    "Pick the bread with golden crust and place it in the woven shallow breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the breadbasket with woven pattern.",
+    "Use one arm to grab the rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with woven pattern.",
+    "Place the bread loaf with soft surface into the breadbasket with woven pattern using the right arm",
+    "Grab the bread with golden crust and put it in the woven shallow breadbasket.",
+    "Pick the rectangular bread loaf and drop it in the shallow rectangular breadbasket",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Pick the bread with golden crust and place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the shallow rectangular breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the shallow rectangular breadbasket.",
+    "Place the bread with golden crust into the woven shallow breadbasket using the right arm",
+    "Grab the rectangular bread loaf and put it in the woven shallow breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the breadbasket with woven pattern",
+    "Grab the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Pick the bread with golden crust and place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with woven pattern.",
+    "Use one arm to grab the bread with golden crust, drop in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the woven shallow breadbasket.",
+    "Place the rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Grab the rectangular bread loaf and put it in the breadbasket with woven pattern.",
+    "Pick the bread loaf with soft surface and drop it in the shallow rectangular breadbasket",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Pick the rectangular bread loaf and place it in the woven shallow breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the woven shallow breadbasket.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf with one arm, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the rectangular bread loaf and place in the breadbasket with woven pattern.",
+    "Place the rectangular bread loaf into the breadbasket with woven pattern using the right arm",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with woven pattern.",
+    "Pick the bread loaf with soft surface and drop it in the shallow rectangular breadbasket",
+    "Grab the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and drop it into the shallow rectangular breadbasket.",
+    "Pick the rectangular bread loaf and place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with woven pattern.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with woven pattern.",
+    "Place the bread loaf with soft surface into the breadbasket with woven pattern using the right arm",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with woven pattern.",
+    "Pick the bread with golden crust and drop it in the woven shallow breadbasket",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with woven pattern.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Place the bread loaf with soft surface into the shallow rectangular breadbasket using the right arm",
+    "Grab the bread with golden crust and put it in the breadbasket with woven pattern.",
+    "Pick the bread loaf with soft surface and drop it in the breadbasket with woven pattern",
+    "Grab the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the shallow rectangular breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf with one arm, place in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the woven shallow breadbasket.",
+    "Place the rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Grab the rectangular bread loaf and put it in the shallow rectangular breadbasket.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with woven pattern",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with woven pattern.",
+    "Place the bread with golden crust into the woven shallow breadbasket using the right arm",
+    "Grab the bread with golden crust and put it in the breadbasket with woven pattern.",
+    "Pick the bread with golden crust and drop it in the shallow rectangular breadbasket",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Pick the bread loaf with soft surface and place it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with woven pattern.",
+    "Use one arm to grab the rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the woven shallow breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Place the bread with golden crust into the woven shallow breadbasket using the right arm",
+    "Grab the rectangular bread loaf and put it in the woven shallow breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the breadbasket with woven pattern",
+    "Grab the bread with golden crust and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and place it in the woven shallow breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with woven pattern.",
+    "Use one arm to grab the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with woven pattern.",
+    "Place the rectangular bread loaf into the breadbasket with woven pattern using the right arm",
+    "Grab the bread with golden crust and put it in the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and drop it in the shallow rectangular breadbasket",
+    "Grab the bread with golden crust and drop it into the breadbasket with woven pattern."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode4.json b/place_bread_basket/demo_randomized/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1b19e6533993d6ca28a2ea42e1ab74f4bb826ac
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the golden baked bread and the soft brown bread for the the smooth beige breadbasket",
+    "Grab both the fluffy baked bread and the bread with golden-brown crust, drop into the round breadbasket.",
+    "Use two arms and set the bread with soft texture, the light brown bread with ridges in the breadbasket with flat base.",
+    "Place the light brown porous bread and the small golden brown bread in the round breadbasket using the dual arm",
+    "Take the golden brown bread and the bread with warm golden color to the smooth beige breadbasket",
+    "Put the soft square bread and the bread with warm golden color into the spiral ridged breadbasket using two arms.",
+    "Grab two breads the bread with soft texture and the hand-sized oval loaf and place in the breadbasket for baking.",
+    "Pick up both the rounded square loaf and the bread with split top, then place them in the breadbasket with spiral lines.",
+    "Simultaneously grab the soft square bread and the light brown loaf with smooth sides using the dual arm, then drop them in the round breadbasket.",
+    "Lift the light brown porous bread and the bread with split top with two arms, put in the spiral ridged breadbasket.",
+    "Shift the sponge-textured golden bread and the small golden brown bread together to the breadbasket for dough.",
+    "Grab the medium bread with rounded sides and the smooth loaf with rounded edges quickly and drop them into the wooden breadbasket.",
+    "Simultaneously use the dual arm to drop the medium bread with rounded sides and the bread with split top in the wooden breadbasket.",
+    "Take the golden baked bread and the light brown loaf with smooth sides, place them inside the medium breadbasket.",
+    "Use both arms to move the rounded square loaf, the small golden brown bread to the breadbasket with spiral lines.",
+    "Take the medium bread with rounded sides and the bread with split top then place in the palm-sized breadbasket.",
+    "Pick the bread with soft texture and the brown loaf and set them in the smooth beige breadbasket.",
+    "Pick the bread with rounded edges and the light brown loaf with smooth sides, place them in the breadbasket for baking.",
+    "Move the rounded square loaf and the soft brown bread to the palm-sized breadbasket",
+    "Grab both the golden baked bread and the light brown bread with ridges with the dual arm and place in the wooden breadbasket.",
+    "Lift the medium bread with rounded sides and the small loaf with curved top at once with the dual arm, then set them in the breadbasket with spiral lines.",
+    "Simultaneously grab the soft square bread and the small golden brown bread, drop in the wooden breadbasket.",
+    "Use the dual arm to place the medium-sized bread piece and the bread with split top into the breadbasket shaped like a bowl.",
+    "Shift the golden brown bread and the golden bread loaf into the breadbasket made of woven wood",
+    "Move the bread with rounded edges and the bread with golden-brown crust at once into the breadbasket with flat base.",
+    "Take the medium bread with rounded sides and the light brown bread with ridges together and place them into the medium breadbasket.",
+    "Pick the sponge-textured golden bread and the small loaf with curved top for the the smooth beige breadbasket",
+    "Grab both the medium bread with rounded sides and the hand-sized oval loaf, drop into the breadbasket for dough.",
+    "Use two arms and set the bread with soft texture, the golden bread loaf in the medium breadbasket.",
+    "Place the medium-sized bread piece and the small golden brown bread in the medium breadbasket using the dual arm",
+    "Take the rounded square loaf and the light brown loaf with smooth sides to the breadbasket with flat base",
+    "Put the rounded square loaf and the brown loaf into the breadbasket shaped like a bowl using two arms.",
+    "Grab two breads the rounded square loaf and the brown loaf and place in the round breadbasket.",
+    "Pick up both the square-shaped bread piece and the soft brown bread, then place them in the breadbasket with flat base.",
+    "Simultaneously grab the golden baked bread and the light brown loaf with smooth sides using the dual arm, then drop them in the smooth beige breadbasket.",
+    "Lift the soft square bread and the light brown bread with ridges with two arms, put in the round breadbasket.",
+    "Shift the rounded square loaf and the bread with split top together to the breadbasket for baking.",
+    "Grab the medium-sized bread piece and the hand-sized oval loaf quickly and drop them into the wooden breadbasket.",
+    "Simultaneously use the dual arm to drop the medium bread with rounded sides and the soft brown bread in the smooth beige breadbasket.",
+    "Take the fluffy baked bread and the smooth loaf with rounded edges, place them inside the palm-sized breadbasket.",
+    "Use both arms to move the fluffy baked bread, the bread with warm golden color to the breadbasket shaped like a bowl.",
+    "Take the bread with soft texture and the hand-sized oval loaf then place in the breadbasket for baking.",
+    "Pick the bread with rounded edges and the soft brown bread and set them in the breadbasket made of woven wood.",
+    "Pick the medium-sized bread piece and the light brown bread with ridges, place them in the wooden breadbasket.",
+    "Move the fluffy baked bread and the bread with warm golden color to the round breadbasket",
+    "Grab both the light brown porous bread and the bread with warm golden color with the dual arm and place in the breadbasket made of woven wood.",
+    "Lift the soft square bread and the light brown bread with ridges at once with the dual arm, then set them in the breadbasket for baking.",
+    "Simultaneously grab the medium bread with rounded sides and the bread with split top, drop in the breadbasket shaped like a bowl.",
+    "Use the dual arm to place the rounded square loaf and the hand-sized oval loaf into the smooth beige breadbasket.",
+    "Shift the sponge-textured golden bread and the bread with split top into the breadbasket with flat base",
+    "Move the golden baked bread and the golden bread loaf at once into the breadbasket with flat base.",
+    "Take the bread with soft texture and the brown loaf together and place them into the smooth beige breadbasket.",
+    "Pick the rounded square loaf and the light brown loaf with smooth sides for the the breadbasket shaped like a bowl",
+    "Grab both the rounded square loaf and the bread with warm golden color, drop into the breadbasket shaped like a bowl.",
+    "Use two arms and set the sponge-textured golden bread, the bread with golden-brown crust in the palm-sized breadbasket.",
+    "Place the square-shaped bread piece and the bread with warm golden color in the wooden breadbasket using the dual arm",
+    "Take the rounded square loaf and the light brown bread with ridges to the wooden breadbasket",
+    "Put the golden brown bread and the bread with golden-brown crust into the spiral ridged breadbasket using two arms.",
+    "Grab two breads the rounded square loaf and the golden bread loaf and place in the breadbasket with flat base.",
+    "Pick up both the rounded square loaf and the small loaf with curved top, then place them in the spiral ridged breadbasket.",
+    "Simultaneously grab the medium bread with rounded sides and the small loaf with curved top using the dual arm, then drop them in the medium breadbasket.",
+    "Lift the medium bread with rounded sides and the light brown loaf with smooth sides with two arms, put in the breadbasket for baking.",
+    "Shift the golden brown bread and the light brown loaf with smooth sides together to the smooth beige breadbasket.",
+    "Grab the sponge-textured golden bread and the small golden brown bread quickly and drop them into the breadbasket for baking.",
+    "Simultaneously use the dual arm to drop the golden brown bread and the small loaf with curved top in the smooth beige breadbasket.",
+    "Take the golden brown bread and the smooth loaf with rounded edges, place them inside the smooth beige breadbasket.",
+    "Use both arms to move the soft square bread, the soft brown bread to the breadbasket for baking.",
+    "Take the square-shaped bread piece and the light brown loaf with smooth sides then place in the breadbasket shaped like a bowl.",
+    "Pick the fluffy baked bread and the soft brown bread and set them in the medium breadbasket.",
+    "Pick the rounded square loaf and the light brown loaf with smooth sides, place them in the spiral ridged breadbasket.",
+    "Move the medium-sized bread piece and the small golden brown bread to the breadbasket made of woven wood",
+    "Grab both the light brown porous bread and the hand-sized oval loaf with the dual arm and place in the round breadbasket.",
+    "Lift the bread with soft texture and the light brown bread with ridges at once with the dual arm, then set them in the breadbasket shaped like a bowl.",
+    "Simultaneously grab the sponge-textured golden bread and the bread with warm golden color, drop in the breadbasket for dough.",
+    "Use the dual arm to place the bread with rounded edges and the small loaf with curved top into the breadbasket with spiral lines.",
+    "Shift the rounded square loaf and the bread with warm golden color into the breadbasket with flat base",
+    "Move the medium-sized bread piece and the bread with golden-brown crust at once into the smooth beige breadbasket.",
+    "Take the fluffy baked bread and the soft brown bread together and place them into the medium breadbasket.",
+    "Pick the sponge-textured golden bread and the soft brown bread for the the smooth beige breadbasket",
+    "Grab both the medium-sized bread piece and the bread with golden-brown crust, drop into the breadbasket for dough.",
+    "Use two arms and set the medium bread with rounded sides, the hand-sized oval loaf in the spiral ridged breadbasket.",
+    "Place the golden baked bread and the light brown loaf with smooth sides in the breadbasket shaped like a bowl using the dual arm",
+    "Take the medium-sized bread piece and the golden bread loaf to the breadbasket for dough",
+    "Put the sponge-textured golden bread and the bread with golden-brown crust into the breadbasket for dough using two arms.",
+    "Grab two breads the medium-sized bread piece and the hand-sized oval loaf and place in the breadbasket with flat base.",
+    "Pick up both the sponge-textured golden bread and the soft brown bread, then place them in the breadbasket made of woven wood.",
+    "Simultaneously grab the medium-sized bread piece and the light brown bread with ridges using the dual arm, then drop them in the smooth beige breadbasket.",
+    "Lift the medium bread with rounded sides and the small loaf with curved top with two arms, put in the breadbasket for dough.",
+    "Shift the light brown porous bread and the light brown bread with ridges together to the medium breadbasket.",
+    "Grab the soft square bread and the smooth loaf with rounded edges quickly and drop them into the spiral ridged breadbasket.",
+    "Simultaneously use the dual arm to drop the medium-sized bread piece and the bread with warm golden color in the breadbasket made of woven wood.",
+    "Take the square-shaped bread piece and the soft brown bread, place them inside the breadbasket made of woven wood.",
+    "Use both arms to move the fluffy baked bread, the small loaf with curved top to the round breadbasket.",
+    "Take the medium-sized bread piece and the hand-sized oval loaf then place in the round breadbasket.",
+    "Pick the rounded square loaf and the small loaf with curved top and set them in the breadbasket with flat base.",
+    "Pick the bread with rounded edges and the golden bread loaf, place them in the round breadbasket.",
+    "Move the golden brown bread and the brown loaf to the breadbasket shaped like a bowl",
+    "Grab both the medium bread with rounded sides and the light brown bread with ridges with the dual arm and place in the medium breadbasket.",
+    "Lift the bread with soft texture and the light brown bread with ridges at once with the dual arm, then set them in the wooden breadbasket.",
+    "Simultaneously grab the golden brown bread and the soft brown bread, drop in the round breadbasket."
+  ],
+  "unseen": [
+    "Grab the square bread with light spots and the oval bread with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the oval bread, drop in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the oval-shaped soft bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the oval bread, then place them in the round beige breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Place the soft bread with golden edges and the oval-shaped soft bread into the round beige breadbasket using the dual arm",
+    "Grab the soft bread with golden edges and the oval-shaped soft bread and drop it into the light wooden breadbasket.",
+    "Pick the square bread with light spots and the rounded oval bread and place them in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the oval-shaped soft bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the rounded oval bread, drop in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the rounded oval bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the oval bread, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the oval-shaped soft bread and place in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the rounded oval bread and put them in the round beige breadbasket.",
+    "Place the square bread with light spots and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Pick the spongy golden brown bread and the oval bread and place them in the round beige breadbasket.",
+    "Grab the square bread with light spots and the oval bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the rounded oval bread, drop in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the oval bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the oval bread, then place them in the round beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the rounded oval bread and put them in the round beige breadbasket.",
+    "Place the square bread with light spots and the oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the square bread with light spots and the oval bread and drop it into the round beige breadbasket.",
+    "Pick the square bread with light spots and the rounded oval bread and place them in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the rounded oval bread with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the square bread with light spots and the oval bread, drop in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the rounded oval bread and place in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Place the square bread with light spots and the oval-shaped soft bread into the round beige breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the rounded oval bread and drop it into the light wooden breadbasket.",
+    "Pick the square bread with light spots and the rounded oval bread and place them in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the oval bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the rounded oval bread, drop in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the oval-shaped soft bread and drop them into the light wooden breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the oval-shaped soft bread, then place them in the round beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the oval bread and place in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the rounded oval bread and put them in the beige breadbasket.",
+    "Place the square bread with light spots and the oval bread into the round beige breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the rounded oval bread and drop it into the light wooden breadbasket.",
+    "Pick the soft bread with golden edges and the rounded oval bread and place them in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the oval-shaped soft bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the square bread with light spots and the oval-shaped soft bread, drop in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the rounded oval bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the rounded oval bread, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the rounded oval bread and place in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Place the soft bread with golden edges and the oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the soft bread with golden edges and the rounded oval bread and drop it into the beige breadbasket.",
+    "Pick the square bread with light spots and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the square bread with light spots and the rounded oval bread with two arms, place in the round beige breadbasket.",
+    "Use one arm to grab the square bread with light spots and the oval bread, drop in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the rounded oval bread, then place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the oval-shaped soft bread and place in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the rounded oval bread and put them in the beige breadbasket.",
+    "Place the square bread with light spots and the rounded oval bread into the round beige breadbasket using the dual arm",
+    "Grab the square bread with light spots and the rounded oval bread and drop it into the light wooden breadbasket.",
+    "Pick the soft bread with golden edges and the rounded oval bread and place them in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the oval bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots and the oval bread, drop in the beige breadbasket.",
+    "Grab the square bread with light spots and the oval bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the rounded oval bread and place in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the oval bread and put them in the light wooden breadbasket.",
+    "Place the spongy golden brown bread and the oval-shaped soft bread into the light wooden breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the oval-shaped soft bread and drop it into the light wooden breadbasket.",
+    "Pick the square bread with light spots and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the rounded oval bread with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the square bread with light spots and the rounded oval bread, drop in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the rounded oval bread and drop them into the light wooden breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the rounded oval bread and put them in the beige breadbasket.",
+    "Place the spongy golden brown bread and the oval bread into the beige breadbasket using the dual arm",
+    "Grab the square bread with light spots and the oval-shaped soft bread and drop it into the round beige breadbasket.",
+    "Pick the soft bread with golden edges and the rounded oval bread and place them in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the rounded oval bread with two arms, place in the light wooden breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the rounded oval bread and drop them into the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the rounded oval bread and place in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Place the soft bread with golden edges and the rounded oval bread into the light wooden breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the oval bread and drop it into the beige breadbasket.",
+    "Pick the square bread with light spots and the oval-shaped soft bread and place them in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots and the oval-shaped soft bread, drop in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the rounded oval bread and drop them into the round beige breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the oval-shaped soft bread, then place them in the light wooden breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the rounded oval bread and place in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Place the soft bread with golden edges and the oval bread into the beige breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the rounded oval bread and drop it into the light wooden breadbasket.",
+    "Pick the spongy golden brown bread and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the oval bread with two arms, place in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode40.json b/place_bread_basket/demo_randomized/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9d08c815c96934e7bd333b2f59e6e4b2c56b3e0
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the golden bread and drop it in the woven plastic breadbasket.",
+    "Pick the golden crusted bread slice and move it to the two-hand-sized breadbasket.",
+    "Grab the rectangular bread soft inside with an arm and set in the medium oval breadbasket.",
+    "Put the brown bread loaf into the two-hand-sized breadbasket using an arm.",
+    "Lift the brown bread loaf and set it in the breadbasket for small food items.",
+    "Put the golden brown loaf-shaped bread into the light brown breadbasket after grabbing it.",
+    "Use the right arm to grab the slice-shaped bread and drop it inside the breadbasket for small food items.",
+    "Drop the rectangular bread soft inside into the light brown breadbasket",
+    "Use the right arm to grab the rectangular bread soft inside for the two-hand-sized breadbasket",
+    "Move the bread with rounded corners to the oval basket for bread using one arm.",
+    "Pick the bread with firm crust edges and put it into the breadbasket with curved base.",
+    "Grab the bread with golden surface color, drop it into the beige basket for holding bread.",
+    "Grab the golden bread with one hand and set it in the medium oval breadbasket.",
+    "Grab the bread with firm crust edges for the synthetic material breadbasket with the right arm",
+    "Pick up the soft golden baked bread and put it in the oval breadbasket.",
+    "Lift the golden bread and transfer to the light brown breadbasket.",
+    "Grab the golden brown loaf-shaped bread with the right arm and drop it in the oval breadbasket.",
+    "Pick up the soft golden baked bread and drop it in the breadbasket with curved base.",
+    "Pick the golden crusted bread slice and move it to the smooth-textured breadbasket.",
+    "Grab the rectangular bread soft inside with an arm and set in the synthetic material breadbasket.",
+    "Put the square loaf of bread into the smooth-textured breadbasket using an arm.",
+    "Lift the bread loaf with square shape and set it in the oval breadbasket.",
+    "Put the bread with rounded corners into the breadbasket with curved base after grabbing it.",
+    "Use the right arm to grab the bread with rounded corners and drop it inside the basket with light brown weaving.",
+    "Drop the square loaf of bread into the woven plastic breadbasket",
+    "Use the right arm to grab the golden bread for the beige basket for holding bread",
+    "Move the bread with firm crust edges to the woven plastic breadbasket using one arm.",
+    "Pick the bread loaf with square shape and put it into the woven plastic breadbasket.",
+    "Grab the bread loaf with square shape, drop it into the smooth-textured breadbasket.",
+    "Grab the rectangular bread soft inside with one hand and set it in the basket with light brown weaving.",
+    "Grab the bread loaf with square shape for the woven plastic breadbasket with the right arm",
+    "Pick up the bread with rounded corners and put it in the breadbasket with curved base.",
+    "Lift the bread with golden surface color and transfer to the oval basket for bread.",
+    "Grab the bread with golden surface color with the right arm and drop it in the woven plastic breadbasket.",
+    "Pick up the golden bread and drop it in the basket with light brown weaving.",
+    "Pick the soft golden baked bread and move it to the two-hand-sized breadbasket.",
+    "Grab the bread with rounded corners with an arm and set in the woven plastic breadbasket.",
+    "Put the square loaf of bread into the beige basket for holding bread using an arm.",
+    "Lift the bread with golden surface color and set it in the light brown breadbasket.",
+    "Put the bread with golden surface color into the light brown breadbasket after grabbing it.",
+    "Use the right arm to grab the bread with golden surface color and drop it inside the breadbasket with curved base.",
+    "Drop the bread with golden surface color into the oval breadbasket",
+    "Use the right arm to grab the rectangular bread soft inside for the basket with light brown weaving",
+    "Move the golden bread to the oval basket for bread using one arm.",
+    "Pick the golden brown loaf-shaped bread and put it into the smooth-textured breadbasket.",
+    "Grab the golden brown loaf-shaped bread, drop it into the oval breadbasket.",
+    "Grab the brown bread loaf with one hand and set it in the synthetic material breadbasket.",
+    "Grab the bread with golden surface color for the basket with light brown weaving with the right arm",
+    "Pick up the golden bread and put it in the woven plastic breadbasket.",
+    "Lift the brown bread loaf and transfer to the two-hand-sized breadbasket.",
+    "Grab the slice-shaped bread with the right arm and drop it in the basket with light brown weaving.",
+    "Pick up the bread with golden surface color and drop it in the breadbasket for small food items.",
+    "Pick the bread with rounded corners and move it to the basket with light brown weaving.",
+    "Grab the bread loaf with square shape with an arm and set in the two-hand-sized breadbasket.",
+    "Put the golden brown loaf-shaped bread into the basket with light brown weaving using an arm.",
+    "Lift the bread with rounded corners and set it in the two-hand-sized breadbasket.",
+    "Put the slice-shaped bread into the breadbasket for small food items after grabbing it.",
+    "Use the right arm to grab the golden crusted bread slice and drop it inside the smooth-textured breadbasket.",
+    "Drop the square loaf of bread into the medium oval breadbasket",
+    "Use the right arm to grab the bread with golden surface color for the oval breadbasket",
+    "Move the slice-shaped bread to the two-hand-sized breadbasket using one arm.",
+    "Pick the brown bread loaf and put it into the two-hand-sized breadbasket.",
+    "Grab the bread with golden surface color, drop it into the oval breadbasket.",
+    "Grab the slice-shaped bread with one hand and set it in the woven plastic breadbasket.",
+    "Grab the soft golden baked bread for the beige basket for holding bread with the right arm",
+    "Pick up the bread with golden surface color and put it in the woven plastic breadbasket.",
+    "Lift the soft golden baked bread and transfer to the light brown breadbasket.",
+    "Grab the golden crusted bread slice with the right arm and drop it in the medium oval breadbasket.",
+    "Pick up the bread with golden surface color and drop it in the light brown breadbasket.",
+    "Pick the soft golden baked bread and move it to the medium oval breadbasket.",
+    "Grab the bread with firm crust edges with an arm and set in the oval basket for bread.",
+    "Put the brown bread loaf into the breadbasket for small food items using an arm.",
+    "Lift the slice-shaped bread and set it in the medium oval breadbasket.",
+    "Put the golden brown loaf-shaped bread into the smooth-textured breadbasket after grabbing it.",
+    "Use the right arm to grab the brown bread loaf and drop it inside the oval basket for bread.",
+    "Drop the bread with firm crust edges into the light brown breadbasket",
+    "Use the right arm to grab the rectangular bread soft inside for the basket with light brown weaving",
+    "Move the bread with firm crust edges to the woven plastic breadbasket using one arm.",
+    "Pick the slice-shaped bread and put it into the synthetic material breadbasket.",
+    "Grab the bread with golden surface color, drop it into the two-hand-sized breadbasket.",
+    "Grab the golden brown loaf-shaped bread with one hand and set it in the light brown breadbasket.",
+    "Grab the slice-shaped bread for the smooth-textured breadbasket with the right arm",
+    "Pick up the golden bread and put it in the breadbasket for small food items.",
+    "Lift the brown bread loaf and transfer to the medium oval breadbasket.",
+    "Grab the soft golden baked bread with the right arm and drop it in the woven plastic breadbasket.",
+    "Pick up the golden crusted bread slice and drop it in the beige basket for holding bread.",
+    "Pick the golden crusted bread slice and move it to the beige basket for holding bread.",
+    "Grab the bread with firm crust edges with an arm and set in the oval basket for bread.",
+    "Put the bread with golden surface color into the synthetic material breadbasket using an arm.",
+    "Lift the rectangular bread soft inside and set it in the two-hand-sized breadbasket.",
+    "Put the golden brown loaf-shaped bread into the smooth-textured breadbasket after grabbing it.",
+    "Use the right arm to grab the rectangular bread soft inside and drop it inside the basket with light brown weaving.",
+    "Drop the golden crusted bread slice into the synthetic material breadbasket",
+    "Use the right arm to grab the brown bread loaf for the oval basket for bread",
+    "Move the bread loaf with square shape to the woven plastic breadbasket using one arm.",
+    "Pick the golden bread and put it into the breadbasket with curved base.",
+    "Grab the soft golden baked bread, drop it into the smooth-textured breadbasket.",
+    "Grab the slice-shaped bread with one hand and set it in the woven plastic breadbasket.",
+    "Grab the bread with golden surface color for the basket with light brown weaving with the right arm",
+    "Pick up the soft golden baked bread and put it in the smooth-textured breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread loaf medium-sized with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and put it in the medium-sized breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and place it in the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and drop it in the beige breadbasket",
+    "Grab the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf into the medium-sized breadbasket using the right arm",
+    "Grab the soft rectangular bread loaf with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and put it in the medium-sized breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and place it in the beige breadbasket.",
+    "Pick the bread loaf medium-sized and drop it in the beige breadbasket",
+    "Grab the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread into the breadbasket with ridged texture using the right arm",
+    "Grab the small loaf-shaped bread with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread, drop in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the medium-sized breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the medium-sized breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and drop it in the beige breadbasket",
+    "Grab the bread loaf medium-sized and drop it into the medium-sized breadbasket.",
+    "Place the soft rectangular bread loaf into the medium-sized breadbasket using the right arm",
+    "Grab the bread loaf medium-sized with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Grab the bread loaf medium-sized and put it in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the bread loaf medium-sized, then place it in the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and place it in the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the beige breadbasket",
+    "Grab the bread loaf medium-sized and drop it into the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread into the beige breadbasket using the right arm",
+    "Grab the small loaf-shaped bread with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and put it in the beige breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread, then place it in the breadbasket with ridged texture.",
+    "Pick the soft rectangular bread loaf and place it in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the beige breadbasket",
+    "Grab the bread loaf medium-sized and drop it into the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf into the medium-sized breadbasket using the right arm",
+    "Grab the soft rectangular bread loaf with one arm, place in the medium-sized breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread, drop in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the medium-sized breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread, then place it in the breadbasket with ridged texture.",
+    "Pick the soft rectangular bread loaf and place it in the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and drop it in the beige breadbasket",
+    "Grab the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Place the bread loaf medium-sized into the beige breadbasket using the right arm",
+    "Grab the soft rectangular bread loaf with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Grab the small loaf-shaped bread and put it in the medium-sized breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread, then place it in the medium-sized breadbasket.",
+    "Pick the small loaf-shaped bread and place it in the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and drop it in the beige breadbasket",
+    "Grab the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Place the small loaf-shaped bread into the breadbasket with ridged texture using the right arm",
+    "Grab the small loaf-shaped bread with one arm, place in the medium-sized breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf medium-sized, drop in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and put it in the beige breadbasket.",
+    "Use the right arm to pick up the bread loaf medium-sized, then place it in the breadbasket with ridged texture.",
+    "Pick the soft rectangular bread loaf and place it in the beige breadbasket.",
+    "Pick the bread loaf medium-sized and drop it in the medium-sized breadbasket",
+    "Grab the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Place the small loaf-shaped bread into the breadbasket with ridged texture using the right arm",
+    "Grab the soft rectangular bread loaf with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and put it in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the beige breadbasket.",
+    "Pick the small loaf-shaped bread and place it in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the beige breadbasket",
+    "Grab the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Place the small loaf-shaped bread into the breadbasket with ridged texture using the right arm",
+    "Grab the soft rectangular bread loaf with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick the bread loaf medium-sized and place in the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized, drop in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and put it in the beige breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf, then place it in the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and place it in the beige breadbasket.",
+    "Pick the small loaf-shaped bread and drop it in the medium-sized breadbasket",
+    "Grab the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Place the bread loaf medium-sized into the medium-sized breadbasket using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode41.json b/place_bread_basket/demo_randomized/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..6053f6372ed0deecfa703511ad9ebd2d15b07c62
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the light brown loaf with smooth sides and the light brown loaf with smooth sides in the beige breadbasket using the left arm",
+    "Simultaneously grab the light brown loaf with smooth sides and the bread with golden-brown crust using the left arm, then drop them in the beige breadbasket.",
+    "Shift the bread with golden-brown crust and the hand-sized oval loaf into the woven light beige breadbasket",
+    "Move the light brown loaf with smooth sides and the light brown bread with ridges to the medium rectangular breadbasket",
+    "Take the hand-sized oval loaf and the small golden brown bread then place in the light beige rectangular breadbasket.",
+    "Use the left arm to place the soft brown bread and the hand-sized oval loaf into the woven light beige breadbasket.",
+    "Pick the soft brown bread and the small golden brown bread and set them in the textured beige breadbasket.",
+    "Put the smooth loaf with rounded edges and the light brown loaf with smooth sides into the plastic mesh breadbasket using two arms.",
+    "Shift the bread with golden-brown crust and the light brown bread with ridges together to the breadbasket for bread storage.",
+    "Grab the bread with golden-brown crust and the golden bread loaf quickly and drop them into the medium rectangular breadbasket.",
+    "Lift the brown loaf and the soft brown bread with two arms, put in the plastic breadbasket with mesh sides.",
+    "Grab both the smooth loaf with rounded edges and the light brown loaf with smooth sides with the left arm and place in the textured beige breadbasket.",
+    "Move the soft brown bread and the brown loaf at once into the textured beige breadbasket.",
+    "Simultaneously use the left arm to drop the golden bread loaf and the brown loaf in the rectangular breadbasket.",
+    "Use two arms and set the bread with golden-brown crust, the golden bread loaf in the plastic breadbasket with mesh sides.",
+    "Take the bread with split top and the golden bread loaf together and place them into the light and textured breadbasket.",
+    "Pick the light brown loaf with smooth sides and the bread with golden-brown crust, place them in the light and textured breadbasket.",
+    "Lift the small golden brown bread and the brown loaf at once with the left arm, then set them in the plastic breadbasket with mesh sides.",
+    "Use both arms to move the bread with split top, the soft brown bread to the medium rectangular breadbasket.",
+    "Take the smooth loaf with rounded edges and the hand-sized oval loaf to the light and textured breadbasket",
+    "Grab both the hand-sized oval loaf and the light brown bread with ridges, drop into the plastic mesh breadbasket.",
+    "Simultaneously grab the soft brown bread and the smooth loaf with rounded edges, drop in the beige breadbasket for holding bread.",
+    "Grab two breads the small golden brown bread and the light brown bread with ridges and place in the plastic breadbasket with mesh sides.",
+    "Take the smooth loaf with rounded edges and the bread with golden-brown crust, place them inside the beige breadbasket.",
+    "Pick up both the bread with warm golden color and the hand-sized oval loaf, then place them in the woven light beige breadbasket.",
+    "Pick the bread with split top and the golden bread loaf for the the light beige rectangular breadbasket",
+    "Place the bread with split top and the light brown bread with ridges in the medium rectangular breadbasket using the left arm",
+    "Simultaneously grab the smooth loaf with rounded edges and the soft brown bread using the left arm, then drop them in the beige breadbasket for holding bread.",
+    "Shift the brown loaf and the golden bread loaf into the beige breadbasket",
+    "Move the light brown loaf with smooth sides and the smooth loaf with rounded edges to the medium rectangular breadbasket",
+    "Take the bread with warm golden color and the light brown loaf with smooth sides then place in the light and textured breadbasket.",
+    "Use the left arm to place the soft brown bread and the light brown bread with ridges into the breadbasket with textured sides.",
+    "Pick the smooth loaf with rounded edges and the bread with warm golden color and set them in the beige breadbasket.",
+    "Put the bread with golden-brown crust and the hand-sized oval loaf into the woven light beige breadbasket using two arms.",
+    "Shift the bread with golden-brown crust and the golden bread loaf together to the rectangular breadbasket.",
+    "Grab the light brown bread with ridges and the bread with warm golden color quickly and drop them into the plastic breadbasket with mesh sides.",
+    "Lift the bread with warm golden color and the bread with split top with two arms, put in the light and textured breadbasket.",
+    "Grab both the golden bread loaf and the smooth loaf with rounded edges with the left arm and place in the plastic breadbasket with mesh sides.",
+    "Move the golden bread loaf and the bread with warm golden color at once into the woven light beige breadbasket.",
+    "Simultaneously use the left arm to drop the smooth loaf with rounded edges and the bread with golden-brown crust in the beige breadbasket.",
+    "Use two arms and set the soft brown bread, the smooth loaf with rounded edges in the light and textured breadbasket.",
+    "Take the light brown bread with ridges and the small loaf with curved top together and place them into the medium rectangular breadbasket.",
+    "Pick the bread with split top and the soft brown bread, place them in the medium rectangular breadbasket.",
+    "Lift the soft brown bread and the bread with warm golden color at once with the left arm, then set them in the rectangular breadbasket.",
+    "Use both arms to move the hand-sized oval loaf, the small loaf with curved top to the plastic breadbasket with mesh sides.",
+    "Take the smooth loaf with rounded edges and the bread with split top to the plastic breadbasket with mesh sides",
+    "Grab both the small golden brown bread and the light brown loaf with smooth sides, drop into the beige breadbasket.",
+    "Simultaneously grab the smooth loaf with rounded edges and the brown loaf, drop in the breadbasket with textured sides.",
+    "Grab two breads the brown loaf and the smooth loaf with rounded edges and place in the beige breadbasket.",
+    "Take the hand-sized oval loaf and the golden bread loaf, place them inside the medium rectangular breadbasket.",
+    "Pick up both the small golden brown bread and the hand-sized oval loaf, then place them in the woven light beige breadbasket.",
+    "Pick the brown loaf and the brown loaf for the the breadbasket for bread storage",
+    "Place the light brown loaf with smooth sides and the smooth loaf with rounded edges in the beige breadbasket for holding bread using the left arm",
+    "Simultaneously grab the bread with warm golden color and the small loaf with curved top using the left arm, then drop them in the plastic breadbasket with mesh sides.",
+    "Shift the brown loaf and the golden bread loaf into the medium rectangular breadbasket",
+    "Move the hand-sized oval loaf and the bread with split top to the light beige rectangular breadbasket",
+    "Take the bread with golden-brown crust and the hand-sized oval loaf then place in the breadbasket with textured sides.",
+    "Use the left arm to place the bread with warm golden color and the soft brown bread into the beige breadbasket.",
+    "Pick the light brown bread with ridges and the golden bread loaf and set them in the plastic breadbasket with mesh sides.",
+    "Put the bread with split top and the small golden brown bread into the woven light beige breadbasket using two arms.",
+    "Shift the light brown bread with ridges and the hand-sized oval loaf together to the beige breadbasket.",
+    "Grab the smooth loaf with rounded edges and the golden bread loaf quickly and drop them into the beige breadbasket for holding bread.",
+    "Lift the small golden brown bread and the brown loaf with two arms, put in the plastic breadbasket with mesh sides.",
+    "Grab both the smooth loaf with rounded edges and the light brown bread with ridges with the left arm and place in the light and textured breadbasket.",
+    "Move the golden bread loaf and the soft brown bread at once into the beige breadbasket for holding bread.",
+    "Simultaneously use the left arm to drop the small golden brown bread and the light brown loaf with smooth sides in the woven light beige breadbasket.",
+    "Use two arms and set the bread with golden-brown crust, the bread with golden-brown crust in the plastic mesh breadbasket.",
+    "Take the golden bread loaf and the small loaf with curved top together and place them into the medium rectangular breadbasket.",
+    "Pick the bread with golden-brown crust and the bread with golden-brown crust, place them in the breadbasket with textured sides.",
+    "Lift the bread with split top and the small golden brown bread at once with the left arm, then set them in the rectangular breadbasket.",
+    "Use both arms to move the smooth loaf with rounded edges, the hand-sized oval loaf to the medium rectangular breadbasket.",
+    "Take the brown loaf and the light brown loaf with smooth sides to the woven light beige breadbasket",
+    "Grab both the brown loaf and the bread with golden-brown crust, drop into the breadbasket with textured sides.",
+    "Simultaneously grab the soft brown bread and the soft brown bread, drop in the woven light beige breadbasket.",
+    "Grab two breads the soft brown bread and the bread with warm golden color and place in the light beige rectangular breadbasket.",
+    "Take the hand-sized oval loaf and the golden bread loaf, place them inside the breadbasket with textured sides.",
+    "Pick up both the hand-sized oval loaf and the small loaf with curved top, then place them in the beige breadbasket for holding bread.",
+    "Pick the light brown bread with ridges and the light brown bread with ridges for the the beige breadbasket for holding bread",
+    "Place the smooth loaf with rounded edges and the hand-sized oval loaf in the textured beige breadbasket using the left arm",
+    "Simultaneously grab the small loaf with curved top and the golden bread loaf using the left arm, then drop them in the breadbasket for bread storage.",
+    "Shift the hand-sized oval loaf and the bread with split top into the plastic mesh breadbasket",
+    "Move the soft brown bread and the small loaf with curved top to the plastic mesh breadbasket",
+    "Take the small loaf with curved top and the small loaf with curved top then place in the breadbasket with textured sides.",
+    "Use the left arm to place the soft brown bread and the brown loaf into the breadbasket for bread storage.",
+    "Pick the bread with golden-brown crust and the golden bread loaf and set them in the woven light beige breadbasket.",
+    "Put the bread with warm golden color and the light brown bread with ridges into the woven light beige breadbasket using two arms.",
+    "Shift the soft brown bread and the hand-sized oval loaf together to the breadbasket with textured sides.",
+    "Grab the smooth loaf with rounded edges and the soft brown bread quickly and drop them into the light beige rectangular breadbasket.",
+    "Lift the hand-sized oval loaf and the light brown bread with ridges with two arms, put in the light and textured breadbasket.",
+    "Grab both the golden bread loaf and the light brown bread with ridges with the left arm and place in the woven light beige breadbasket.",
+    "Move the hand-sized oval loaf and the golden bread loaf at once into the plastic mesh breadbasket.",
+    "Simultaneously use the left arm to drop the bread with split top and the small loaf with curved top in the plastic mesh breadbasket.",
+    "Use two arms and set the hand-sized oval loaf, the brown loaf in the plastic breadbasket with mesh sides.",
+    "Take the small golden brown bread and the golden bread loaf together and place them into the light and textured breadbasket.",
+    "Pick the bread with split top and the bread with golden-brown crust, place them in the light and textured breadbasket.",
+    "Lift the small loaf with curved top and the bread with warm golden color at once with the left arm, then set them in the light and textured breadbasket.",
+    "Use both arms to move the golden bread loaf, the brown loaf to the rectangular breadbasket.",
+    "Take the small loaf with curved top and the bread with warm golden color to the beige breadbasket",
+    "Grab both the light brown bread with ridges and the bread with split top, drop into the beige breadbasket.",
+    "Simultaneously grab the brown loaf and the small loaf with curved top, drop in the breadbasket for bread storage."
+  ],
+  "unseen": [
+    "Grab the oval bread and the oval-shaped soft bread and drop it into the breadbasket with woven pattern.",
+    "Use the left arm to pick up the rounded oval bread and the rounded oval bread, then place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the oval bread and the oval bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and put them in the woven shallow breadbasket.",
+    "Pick the rounded oval bread and the oval-shaped soft bread and place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the oval bread and the oval bread and place in the woven shallow breadbasket.",
+    "Place the oval bread and the rounded oval bread into the woven shallow breadbasket using the left arm",
+    "Grab the rounded oval bread and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the oval bread and the rounded oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the oval-shaped soft bread and the rounded oval bread, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the oval-shaped soft bread and the oval-shaped soft bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread and put them in the woven shallow breadbasket.",
+    "Pick the oval-shaped soft bread and the oval bread and place them in the woven shallow breadbasket.",
+    "Use the left arm to pick the rounded oval bread and the rounded oval bread and place in the woven shallow breadbasket.",
+    "Place the oval bread and the oval-shaped soft bread into the shallow rectangular breadbasket using the left arm",
+    "Grab the oval bread and the rounded oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the oval bread and the oval bread with two arms, place in the woven shallow breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and drop it into the breadbasket with woven pattern.",
+    "Use the left arm to pick up the oval-shaped soft bread and the oval bread, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the woven shallow breadbasket.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and put them in the breadbasket with woven pattern.",
+    "Pick the oval-shaped soft bread and the rounded oval bread and place them in the breadbasket with woven pattern.",
+    "Use the left arm to pick the oval-shaped soft bread and the rounded oval bread and place in the breadbasket with woven pattern.",
+    "Place the rounded oval bread and the oval bread into the breadbasket with woven pattern using the left arm",
+    "Grab the rounded oval bread and the rounded oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the oval-shaped soft bread with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the oval bread and the oval-shaped soft bread, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the oval-shaped soft bread and the oval-shaped soft bread, drop in the breadbasket with woven pattern.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and put them in the woven shallow breadbasket.",
+    "Pick the oval-shaped soft bread and the oval bread and place them in the breadbasket with woven pattern.",
+    "Use the left arm to pick the oval bread and the oval bread and place in the woven shallow breadbasket.",
+    "Place the oval bread and the oval-shaped soft bread into the breadbasket with woven pattern using the left arm",
+    "Grab the oval-shaped soft bread and the oval bread and drop them into the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the rounded oval bread and the oval bread and drop it into the breadbasket with woven pattern.",
+    "Use the left arm to pick up the rounded oval bread and the rounded oval bread, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the rounded oval bread, drop in the breadbasket with woven pattern.",
+    "Grab the oval bread and the oval bread and put them in the shallow rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and the oval bread and place them in the breadbasket with woven pattern.",
+    "Use the left arm to pick the oval-shaped soft bread and the oval bread and place in the shallow rectangular breadbasket.",
+    "Place the rounded oval bread and the oval-shaped soft bread into the breadbasket with woven pattern using the left arm",
+    "Grab the oval-shaped soft bread and the rounded oval bread and drop them into the woven shallow breadbasket.",
+    "Grab the oval bread and the rounded oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and drop it into the woven shallow breadbasket.",
+    "Use the left arm to pick up the oval bread and the oval-shaped soft bread, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the oval bread and the rounded oval bread, drop in the breadbasket with woven pattern.",
+    "Grab the oval bread and the rounded oval bread and put them in the woven shallow breadbasket.",
+    "Pick the oval-shaped soft bread and the oval-shaped soft bread and place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the oval bread and the oval bread and place in the woven shallow breadbasket.",
+    "Place the rounded oval bread and the oval-shaped soft bread into the woven shallow breadbasket using the left arm",
+    "Grab the oval bread and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the oval-shaped soft bread with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and drop it into the breadbasket with woven pattern.",
+    "Use the left arm to pick up the oval-shaped soft bread and the rounded oval bread, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval-shaped soft bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and put them in the breadbasket with woven pattern.",
+    "Pick the oval bread and the rounded oval bread and place them in the woven shallow breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the oval-shaped soft bread and place in the breadbasket with woven pattern.",
+    "Place the oval bread and the oval bread into the breadbasket with woven pattern using the left arm",
+    "Grab the oval-shaped soft bread and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the oval bread and the oval bread with two arms, place in the woven shallow breadbasket.",
+    "Grab the oval bread and the oval bread and drop it into the breadbasket with woven pattern.",
+    "Use the left arm to pick up the rounded oval bread and the oval bread, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval bread and the rounded oval bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the oval bread and put them in the woven shallow breadbasket.",
+    "Pick the oval bread and the oval-shaped soft bread and place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the oval bread and place in the woven shallow breadbasket.",
+    "Place the rounded oval bread and the oval bread into the woven shallow breadbasket using the left arm",
+    "Grab the rounded oval bread and the rounded oval bread and drop them into the woven shallow breadbasket.",
+    "Grab the oval bread and the rounded oval bread with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and drop it into the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the oval-shaped soft bread and the oval bread, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval bread and the oval-shaped soft bread, drop in the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the oval bread and put them in the shallow rectangular breadbasket.",
+    "Pick the oval bread and the oval-shaped soft bread and place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the oval bread and the rounded oval bread and place in the breadbasket with woven pattern.",
+    "Place the oval-shaped soft bread and the rounded oval bread into the shallow rectangular breadbasket using the left arm",
+    "Grab the oval-shaped soft bread and the oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the rounded oval bread and drop it into the woven shallow breadbasket.",
+    "Use the left arm to pick up the oval bread and the rounded oval bread, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the oval-shaped soft bread and the oval-shaped soft bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the rounded oval bread and put them in the woven shallow breadbasket.",
+    "Pick the oval bread and the rounded oval bread and place them in the woven shallow breadbasket.",
+    "Use the left arm to pick the rounded oval bread and the oval bread and place in the woven shallow breadbasket.",
+    "Place the oval bread and the oval bread into the breadbasket with woven pattern using the left arm",
+    "Grab the oval bread and the oval bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the rounded oval bread and the oval bread with two arms, place in the breadbasket with woven pattern.",
+    "Grab the oval bread and the oval bread and drop it into the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the oval bread and the rounded oval bread, then place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the breadbasket with woven pattern.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and put them in the breadbasket with woven pattern.",
+    "Pick the oval bread and the oval-shaped soft bread and place them in the woven shallow breadbasket.",
+    "Use the left arm to pick the oval-shaped soft bread and the oval-shaped soft bread and place in the breadbasket with woven pattern.",
+    "Place the oval-shaped soft bread and the oval bread into the shallow rectangular breadbasket using the left arm",
+    "Grab the oval-shaped soft bread and the rounded oval bread and drop them into the breadbasket with woven pattern.",
+    "Grab the oval bread and the oval-shaped soft bread with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop it into the woven shallow breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode42.json b/place_bread_basket/demo_randomized/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..d069d3d618f8bf8ec10d990f8e9060155bf431d3
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the light brown porous bread and the square loaf of bread in the breadbasket for bread storage using the dual arm",
+    "Use the dual arm to place the medium-sized bread piece and the golden crusted bread slice into the light and textured breadbasket.",
+    "Move the golden brown bread and the rectangular bread soft inside to the beige breadbasket for holding bread",
+    "Use both arms to move the light brown porous bread, the bread with firm crust edges to the rectangular breadbasket.",
+    "Shift the square-shaped bread piece and the golden crusted bread slice into the woven light beige breadbasket",
+    "Pick the light brown porous bread and the bread with rounded corners for the the plastic mesh breadbasket",
+    "Simultaneously use the dual arm to drop the fluffy baked bread and the square loaf of bread in the light and textured breadbasket.",
+    "Pick up both the bread with soft texture and the golden brown loaf-shaped bread, then place them in the medium rectangular breadbasket.",
+    "Grab both the bread with soft texture and the bread with rounded corners with the dual arm and place in the plastic mesh breadbasket.",
+    "Lift the light brown porous bread and the rectangular bread soft inside with two arms, put in the beige breadbasket for holding bread.",
+    "Put the square-shaped bread piece and the golden crusted bread slice into the plastic breadbasket with mesh sides using two arms.",
+    "Take the bread with rounded edges and the bread with golden surface color then place in the beige breadbasket for holding bread.",
+    "Lift the medium-sized bread piece and the slice-shaped bread at once with the dual arm, then set them in the breadbasket with textured sides.",
+    "Pick the fluffy baked bread and the bread with rounded corners and set them in the medium rectangular breadbasket.",
+    "Grab the fluffy baked bread and the rectangular bread soft inside quickly and drop them into the light and textured breadbasket.",
+    "Shift the medium-sized bread piece and the soft golden baked bread together to the plastic mesh breadbasket.",
+    "Take the golden baked bread and the golden crusted bread slice together and place them into the medium rectangular breadbasket.",
+    "Pick the medium bread with rounded sides and the golden bread, place them in the beige breadbasket for holding bread.",
+    "Move the golden baked bread and the bread with golden surface color at once into the plastic mesh breadbasket.",
+    "Take the medium bread with rounded sides and the bread with rounded corners to the rectangular breadbasket",
+    "Simultaneously grab the fluffy baked bread and the bread loaf with square shape using the dual arm, then drop them in the woven light beige breadbasket.",
+    "Simultaneously grab the golden brown bread and the square loaf of bread, drop in the woven light beige breadbasket.",
+    "Take the bread with rounded edges and the square loaf of bread, place them inside the woven light beige breadbasket.",
+    "Use two arms and set the medium bread with rounded sides, the golden bread in the beige breadbasket.",
+    "Grab both the golden baked bread and the slice-shaped bread, drop into the beige breadbasket.",
+    "Grab two breads the golden brown bread and the bread with rounded corners and place in the light and textured breadbasket.",
+    "Place the bread with soft texture and the square loaf of bread in the light beige rectangular breadbasket using the dual arm",
+    "Use the dual arm to place the soft square bread and the square loaf of bread into the beige breadbasket.",
+    "Move the fluffy baked bread and the soft golden baked bread to the light and textured breadbasket",
+    "Use both arms to move the bread with soft texture, the brown bread loaf to the beige breadbasket for holding bread.",
+    "Shift the soft square bread and the bread loaf with square shape into the rectangular breadbasket",
+    "Pick the soft square bread and the golden bread for the the woven light beige breadbasket",
+    "Simultaneously use the dual arm to drop the fluffy baked bread and the golden brown loaf-shaped bread in the textured beige breadbasket.",
+    "Pick up both the bread with soft texture and the bread with rounded corners, then place them in the beige breadbasket for holding bread.",
+    "Grab both the bread with soft texture and the golden brown loaf-shaped bread with the dual arm and place in the beige breadbasket for holding bread.",
+    "Lift the bread with rounded edges and the bread with rounded corners with two arms, put in the woven light beige breadbasket.",
+    "Put the fluffy baked bread and the bread loaf with square shape into the rectangular breadbasket using two arms.",
+    "Take the rounded square loaf and the bread with firm crust edges then place in the plastic breadbasket with mesh sides.",
+    "Lift the square-shaped bread piece and the golden crusted bread slice at once with the dual arm, then set them in the breadbasket for bread storage.",
+    "Pick the bread with rounded edges and the bread with rounded corners and set them in the plastic mesh breadbasket.",
+    "Grab the medium-sized bread piece and the bread loaf with square shape quickly and drop them into the woven light beige breadbasket.",
+    "Shift the rounded square loaf and the bread with rounded corners together to the beige breadbasket.",
+    "Take the medium-sized bread piece and the bread with rounded corners together and place them into the textured beige breadbasket.",
+    "Pick the golden brown bread and the slice-shaped bread, place them in the breadbasket with textured sides.",
+    "Move the light brown porous bread and the golden bread at once into the rectangular breadbasket.",
+    "Take the fluffy baked bread and the square loaf of bread to the textured beige breadbasket",
+    "Simultaneously grab the medium-sized bread piece and the slice-shaped bread using the dual arm, then drop them in the textured beige breadbasket.",
+    "Simultaneously grab the golden baked bread and the golden crusted bread slice, drop in the woven light beige breadbasket.",
+    "Take the medium-sized bread piece and the bread loaf with square shape, place them inside the light beige rectangular breadbasket.",
+    "Use two arms and set the golden baked bread, the bread with firm crust edges in the beige breadbasket for holding bread.",
+    "Grab both the fluffy baked bread and the golden brown loaf-shaped bread, drop into the light beige rectangular breadbasket.",
+    "Grab two breads the fluffy baked bread and the slice-shaped bread and place in the light beige rectangular breadbasket.",
+    "Place the square-shaped bread piece and the soft golden baked bread in the textured beige breadbasket using the dual arm",
+    "Use the dual arm to place the medium-sized bread piece and the bread with firm crust edges into the beige breadbasket.",
+    "Move the medium-sized bread piece and the golden brown loaf-shaped bread to the breadbasket with textured sides",
+    "Use both arms to move the square-shaped bread piece, the golden crusted bread slice to the plastic breadbasket with mesh sides.",
+    "Shift the golden baked bread and the golden crusted bread slice into the beige breadbasket",
+    "Pick the square-shaped bread piece and the bread loaf with square shape for the the rectangular breadbasket",
+    "Simultaneously use the dual arm to drop the rounded square loaf and the square loaf of bread in the light beige rectangular breadbasket.",
+    "Pick up both the light brown porous bread and the golden bread, then place them in the beige breadbasket.",
+    "Grab both the medium-sized bread piece and the brown bread loaf with the dual arm and place in the rectangular breadbasket.",
+    "Lift the bread with rounded edges and the bread with rounded corners with two arms, put in the light beige rectangular breadbasket.",
+    "Put the golden baked bread and the bread with firm crust edges into the breadbasket with textured sides using two arms.",
+    "Take the medium-sized bread piece and the square loaf of bread then place in the plastic breadbasket with mesh sides.",
+    "Lift the soft square bread and the golden brown loaf-shaped bread at once with the dual arm, then set them in the rectangular breadbasket.",
+    "Pick the bread with rounded edges and the golden bread and set them in the woven light beige breadbasket.",
+    "Grab the fluffy baked bread and the slice-shaped bread quickly and drop them into the plastic mesh breadbasket.",
+    "Shift the soft square bread and the rectangular bread soft inside together to the medium rectangular breadbasket.",
+    "Take the square-shaped bread piece and the rectangular bread soft inside together and place them into the woven light beige breadbasket.",
+    "Pick the golden baked bread and the bread with golden surface color, place them in the breadbasket with textured sides.",
+    "Move the golden brown bread and the bread with firm crust edges at once into the textured beige breadbasket.",
+    "Take the light brown porous bread and the bread loaf with square shape to the rectangular breadbasket",
+    "Simultaneously grab the medium-sized bread piece and the square loaf of bread using the dual arm, then drop them in the textured beige breadbasket.",
+    "Simultaneously grab the medium-sized bread piece and the golden brown loaf-shaped bread, drop in the plastic mesh breadbasket.",
+    "Take the bread with soft texture and the soft golden baked bread, place them inside the medium rectangular breadbasket.",
+    "Use two arms and set the medium bread with rounded sides, the slice-shaped bread in the beige breadbasket.",
+    "Grab both the bread with soft texture and the rectangular bread soft inside, drop into the breadbasket for bread storage.",
+    "Grab two breads the bread with soft texture and the bread with rounded corners and place in the textured beige breadbasket.",
+    "Place the bread with rounded edges and the bread loaf with square shape in the light and textured breadbasket using the dual arm",
+    "Use the dual arm to place the soft square bread and the square loaf of bread into the light beige rectangular breadbasket.",
+    "Move the light brown porous bread and the bread with golden surface color to the plastic mesh breadbasket",
+    "Use both arms to move the fluffy baked bread, the bread with firm crust edges to the medium rectangular breadbasket.",
+    "Shift the golden baked bread and the bread with rounded corners into the beige breadbasket for holding bread",
+    "Pick the bread with rounded edges and the soft golden baked bread for the the woven light beige breadbasket",
+    "Simultaneously use the dual arm to drop the golden baked bread and the rectangular bread soft inside in the light beige rectangular breadbasket.",
+    "Pick up both the bread with soft texture and the bread loaf with square shape, then place them in the textured beige breadbasket.",
+    "Grab both the light brown porous bread and the rectangular bread soft inside with the dual arm and place in the breadbasket with textured sides.",
+    "Lift the medium bread with rounded sides and the bread with firm crust edges with two arms, put in the light beige rectangular breadbasket.",
+    "Put the golden baked bread and the golden bread into the breadbasket for bread storage using two arms.",
+    "Take the golden baked bread and the bread with golden surface color then place in the rectangular breadbasket.",
+    "Lift the fluffy baked bread and the slice-shaped bread at once with the dual arm, then set them in the plastic breadbasket with mesh sides.",
+    "Pick the soft square bread and the soft golden baked bread and set them in the breadbasket for bread storage.",
+    "Grab the bread with rounded edges and the bread loaf with square shape quickly and drop them into the medium rectangular breadbasket.",
+    "Shift the sponge-textured golden bread and the bread loaf with square shape together to the light and textured breadbasket.",
+    "Take the medium-sized bread piece and the golden crusted bread slice together and place them into the rectangular breadbasket.",
+    "Pick the light brown porous bread and the bread with rounded corners, place them in the light beige rectangular breadbasket.",
+    "Move the medium-sized bread piece and the golden brown loaf-shaped bread at once into the breadbasket for bread storage.",
+    "Take the golden brown bread and the golden bread to the beige breadbasket for holding bread",
+    "Simultaneously grab the medium bread with rounded sides and the slice-shaped bread using the dual arm, then drop them in the plastic mesh breadbasket.",
+    "Simultaneously grab the medium-sized bread piece and the brown bread loaf, drop in the breadbasket with textured sides."
+  ],
+  "unseen": [
+    "Use one arm to grab the square bread with light spots and the bread loaf medium-sized, drop in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the small loaf-shaped bread, then place them in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop them into the breadbasket with woven pattern.",
+    "Place the soft bread with golden edges and the small loaf-shaped bread into the shallow rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick the spongy golden brown bread and the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and put them in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and the small loaf-shaped bread and place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft bread with golden edges and the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the square bread with light spots and the small loaf-shaped bread, then place them in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop them into the shallow rectangular breadbasket.",
+    "Place the square bread with light spots and the small loaf-shaped bread into the woven shallow breadbasket using the dual arm",
+    "Use the dual arm to pick the square bread with light spots and the bread loaf medium-sized and place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and put them in the shallow rectangular breadbasket.",
+    "Pick the square bread with light spots and the bread loaf medium-sized and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf with two arms, place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the square bread with light spots and the soft rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and drop them into the breadbasket with woven pattern.",
+    "Place the soft bread with golden edges and the small loaf-shaped bread into the breadbasket with woven pattern using the dual arm",
+    "Use the dual arm to pick the square bread with light spots and the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the woven shallow breadbasket.",
+    "Pick the square bread with light spots and the small loaf-shaped bread and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized with two arms, place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the soft bread with golden edges and the bread loaf medium-sized, then place them in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and drop them into the shallow rectangular breadbasket.",
+    "Place the spongy golden brown bread and the soft rectangular bread loaf into the woven shallow breadbasket using the dual arm",
+    "Use the dual arm to pick the spongy golden brown bread and the bread loaf medium-sized and place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and put them in the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and the bread loaf medium-sized and place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft bread with golden edges and the soft rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the bread loaf medium-sized, then place them in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop them into the breadbasket with woven pattern.",
+    "Place the soft bread with golden edges and the small loaf-shaped bread into the woven shallow breadbasket using the dual arm",
+    "Use the dual arm to pick the soft bread with golden edges and the soft rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and the soft rectangular bread loaf and place them in the woven shallow breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the small loaf-shaped bread, drop in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the bread loaf medium-sized, then place them in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop them into the woven shallow breadbasket.",
+    "Place the spongy golden brown bread and the bread loaf medium-sized into the woven shallow breadbasket using the dual arm",
+    "Use the dual arm to pick the square bread with light spots and the soft rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Pick the square bread with light spots and the small loaf-shaped bread and place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the spongy golden brown bread and the small loaf-shaped bread, drop in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread with two arms, place in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the bread loaf medium-sized, then place them in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop them into the shallow rectangular breadbasket.",
+    "Place the square bread with light spots and the soft rectangular bread loaf into the woven shallow breadbasket using the dual arm",
+    "Use the dual arm to pick the spongy golden brown bread and the soft rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the woven shallow breadbasket.",
+    "Pick the soft bread with golden edges and the soft rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft bread with golden edges and the small loaf-shaped bread, drop in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the soft bread with golden edges and the bread loaf medium-sized, then place them in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop them into the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges and the small loaf-shaped bread into the woven shallow breadbasket using the dual arm",
+    "Use the dual arm to pick the square bread with light spots and the bread loaf medium-sized and place in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and put them in the breadbasket with woven pattern.",
+    "Pick the spongy golden brown bread and the small loaf-shaped bread and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the square bread with light spots and the small loaf-shaped bread, drop in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and the small loaf-shaped bread with two arms, place in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the spongy golden brown bread and the bread loaf medium-sized, then place them in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop them into the shallow rectangular breadbasket.",
+    "Place the square bread with light spots and the soft rectangular bread loaf into the shallow rectangular breadbasket using the dual arm",
+    "Use the dual arm to pick the soft bread with golden edges and the soft rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and put them in the shallow rectangular breadbasket.",
+    "Pick the square bread with light spots and the bread loaf medium-sized and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the soft rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf with two arms, place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the spongy golden brown bread and the soft rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop them into the breadbasket with woven pattern.",
+    "Place the spongy golden brown bread and the soft rectangular bread loaf into the breadbasket with woven pattern using the dual arm",
+    "Use the dual arm to pick the soft bread with golden edges and the bread loaf medium-sized and place in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Pick the spongy golden brown bread and the bread loaf medium-sized and place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft bread with golden edges and the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized with two arms, place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the bread loaf medium-sized, then place them in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop them into the breadbasket with woven pattern.",
+    "Place the spongy golden brown bread and the soft rectangular bread loaf into the breadbasket with woven pattern using the dual arm",
+    "Use the dual arm to pick the square bread with light spots and the soft rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and put them in the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and the soft rectangular bread loaf and place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the small loaf-shaped bread, drop in the breadbasket with woven pattern."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode43.json b/place_bread_basket/demo_randomized/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2a46ac36c9f101a2f6977a507ef4dd9052b88bc
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the golden bread loaf and the soft doughy bread then place in the light brown basket for bread.",
+    "Simultaneously grab the bread with rough texture and the smooth crusty small bread, drop in the breadbasket with rounded edges.",
+    "Pick the hand-sized bread block and the braided bread loaf and set them in the smooth textured brown breadbasket.",
+    "Place the hand-sized bread block and the small bread in the light brown basket for bread using the dual arm",
+    "Lift the golden bread and the braided bread loaf at once with the dual arm, then set them in the brown breadbasket.",
+    "Pick the cuboid bread and the small golden baked bread, place them in the brown breadbasket.",
+    "Take the bread block with light patches and the smooth crusty small bread together and place them into the light brown basket for bread.",
+    "Shift the bread block with light patches and the golden bread loaf with soft inside into the light brown wicker breadbasket",
+    "Grab both the bread with rough texture and the bread with golden crust, drop into the woven rectangular breadbasket.",
+    "Put the golden bread and the round bread with crusty texture into the medium woven breadbasket using two arms.",
+    "Pick the bread loaf with bumpy surface and the small golden baked bread for the the brown breadbasket with rounded corners",
+    "Pick up both the bread block with light patches and the bread with golden crust, then place them in the breadbasket for holding bread.",
+    "Grab two breads the light golden brown bread and the round bread with crusty texture and place in the medium-sized rectangular breadbasket.",
+    "Grab both the light golden brown bread and the smooth crusty small bread with the dual arm and place in the medium woven breadbasket.",
+    "Lift the square-shaped bread and the golden brown bread with braided design with two arms, put in the light brown basket for bread.",
+    "Move the hand-sized bread block and the round bread with crusty texture to the breadbasket with rounded edges",
+    "Use both arms to move the bread block with light patches, the smooth crusty small bread to the breadbasket with rounded edges.",
+    "Shift the bread with rough texture and the golden bread loaf with soft inside together to the light brown basket for bread.",
+    "Use two arms and set the hand-sized bread block, the golden bread loaf with soft inside in the medium woven breadbasket.",
+    "Grab the bread loaf with uneven edges and the braided bread loaf quickly and drop them into the breadbasket with wicker weave pattern.",
+    "Take the bread loaf with uneven edges and the golden brown bread, place them inside the breadbasket with wicker weave pattern.",
+    "Use the dual arm to place the hand-sized bread block and the golden bread loaf with soft inside into the light brown basket for bread.",
+    "Simultaneously grab the light golden brown bread and the small golden baked bread using the dual arm, then drop them in the breadbasket with wicker weave pattern.",
+    "Take the soft bread and the smooth crusty small bread to the medium woven breadbasket",
+    "Move the hand-sized bread block and the small bread at once into the medium woven breadbasket.",
+    "Simultaneously use the dual arm to drop the golden bread loaf and the soft golden bread in the breadbasket with rounded edges.",
+    "Take the hand-sized bread block and the small golden baked bread then place in the smooth textured brown breadbasket.",
+    "Simultaneously grab the bread loaf with bumpy surface and the smooth crusty small bread, drop in the light brown basket for bread.",
+    "Pick the bread block with light patches and the round bread with crusty texture and set them in the breadbasket with rounded edges.",
+    "Place the doughy and soft bread and the soft golden bread in the breadbasket with smooth woven texture using the dual arm",
+    "Lift the hand-sized bread block and the soft doughy bread at once with the dual arm, then set them in the brown breadbasket with rounded corners.",
+    "Pick the bread with rough texture and the small golden baked bread, place them in the medium-sized rectangular breadbasket.",
+    "Take the square-shaped bread and the soft golden bread together and place them into the brown breadbasket with rounded corners.",
+    "Shift the golden bread and the small golden baked bread into the breadbasket with smooth woven texture",
+    "Grab both the doughy and soft bread and the soft golden bread, drop into the breadbasket with rounded edges.",
+    "Put the light golden brown bread and the small golden baked bread into the medium woven breadbasket using two arms.",
+    "Pick the hand-sized bread block and the golden bread loaf with soft inside for the the brown breadbasket",
+    "Pick up both the cuboid bread and the golden bread loaf with soft inside, then place them in the medium woven breadbasket.",
+    "Grab two breads the square-shaped bread and the bread with golden crust and place in the woven rectangular breadbasket.",
+    "Grab both the cuboid bread and the braided bread loaf with the dual arm and place in the medium-sized rectangular breadbasket.",
+    "Lift the bread loaf with uneven edges and the bread with golden crust with two arms, put in the medium woven breadbasket.",
+    "Move the golden bread and the golden brown bread to the smooth textured brown breadbasket",
+    "Use both arms to move the bread loaf with bumpy surface, the bread with golden crust to the medium woven breadbasket.",
+    "Shift the bread loaf with uneven edges and the braided bread loaf together to the breadbasket for holding bread.",
+    "Use two arms and set the golden bread loaf, the soft doughy bread in the breadbasket with wicker weave pattern.",
+    "Grab the hand-sized bread block and the braided bread loaf quickly and drop them into the brown breadbasket.",
+    "Take the hand-sized bread block and the bread with golden crust, place them inside the breadbasket for holding bread.",
+    "Use the dual arm to place the soft bread and the smooth crusty small bread into the brown breadbasket with rounded corners.",
+    "Simultaneously grab the hand-sized bread block and the soft golden bread using the dual arm, then drop them in the brown breadbasket.",
+    "Take the bread loaf with bumpy surface and the round bread with braided top to the smooth textured brown breadbasket",
+    "Move the doughy and soft bread and the bread with golden crust at once into the breadbasket for holding bread.",
+    "Simultaneously use the dual arm to drop the bread loaf with uneven edges and the soft doughy bread in the breadbasket for holding bread.",
+    "Take the square-shaped bread and the soft golden bread then place in the breadbasket with rounded edges.",
+    "Simultaneously grab the hand-sized bread block and the round bread with crusty texture, drop in the woven rectangular breadbasket.",
+    "Pick the bread loaf with bumpy surface and the golden brown bread with braided design and set them in the light brown wicker breadbasket.",
+    "Place the bread loaf with bumpy surface and the soft doughy bread in the woven rectangular breadbasket using the dual arm",
+    "Lift the bread block with light patches and the round bread with crusty texture at once with the dual arm, then set them in the light brown basket for bread.",
+    "Pick the bread loaf with bumpy surface and the golden brown bread, place them in the woven rectangular breadbasket.",
+    "Take the square-shaped bread and the smooth crusty small bread together and place them into the smooth textured brown breadbasket.",
+    "Shift the square-shaped bread and the golden bread loaf with soft inside into the medium woven breadbasket",
+    "Grab both the golden bread and the golden brown bread, drop into the brown breadbasket with rounded corners.",
+    "Put the golden bread and the golden bread loaf with soft inside into the brown breadbasket using two arms.",
+    "Pick the bread loaf with uneven edges and the soft doughy bread for the the breadbasket for holding bread",
+    "Pick up both the cuboid bread and the round bread with crusty texture, then place them in the light brown basket for bread.",
+    "Grab two breads the light golden brown bread and the round bread with braided top and place in the medium woven breadbasket.",
+    "Grab both the bread block with light patches and the small golden baked bread with the dual arm and place in the brown breadbasket with rounded corners.",
+    "Lift the bread block with light patches and the golden brown bread with braided design with two arms, put in the smooth textured brown breadbasket.",
+    "Move the bread loaf with uneven edges and the small golden baked bread to the brown breadbasket with rounded corners",
+    "Use both arms to move the light golden brown bread, the golden bread loaf with soft inside to the breadbasket with wicker weave pattern.",
+    "Shift the light golden brown bread and the braided bread loaf together to the medium-sized rectangular breadbasket.",
+    "Use two arms and set the golden bread loaf, the round bread with crusty texture in the brown breadbasket with rounded corners.",
+    "Grab the golden bread and the small golden baked bread quickly and drop them into the brown breadbasket with rounded corners.",
+    "Take the golden bread loaf and the bread with golden crust, place them inside the brown breadbasket with rounded corners.",
+    "Use the dual arm to place the cuboid bread and the smooth crusty small bread into the light brown basket for bread.",
+    "Simultaneously grab the bread loaf with uneven edges and the golden brown bread with braided design using the dual arm, then drop them in the breadbasket with wicker weave pattern.",
+    "Take the hand-sized bread block and the golden bread loaf with soft inside to the breadbasket with smooth woven texture",
+    "Move the cuboid bread and the small bread at once into the brown breadbasket.",
+    "Simultaneously use the dual arm to drop the hand-sized bread block and the round bread with braided top in the brown breadbasket.",
+    "Take the soft bread and the golden brown bread then place in the breadbasket with wicker weave pattern.",
+    "Simultaneously grab the soft bread and the round bread with crusty texture, drop in the smooth textured brown breadbasket.",
+    "Pick the hand-sized bread block and the small golden baked bread and set them in the woven rectangular breadbasket.",
+    "Place the square-shaped bread and the small golden baked bread in the breadbasket with wicker weave pattern using the dual arm",
+    "Lift the square-shaped bread and the smooth crusty small bread at once with the dual arm, then set them in the breadbasket with smooth woven texture.",
+    "Pick the square-shaped bread and the small golden baked bread, place them in the woven rectangular breadbasket.",
+    "Take the doughy and soft bread and the soft doughy bread together and place them into the light brown basket for bread.",
+    "Shift the bread loaf with uneven edges and the small golden baked bread into the breadbasket with smooth woven texture",
+    "Grab both the bread with rough texture and the braided bread loaf, drop into the breadbasket with rounded edges.",
+    "Put the hand-sized bread block and the small golden baked bread into the woven rectangular breadbasket using two arms.",
+    "Pick the bread block with light patches and the braided bread loaf for the the light brown wicker breadbasket",
+    "Pick up both the bread loaf with bumpy surface and the golden brown bread with braided design, then place them in the brown breadbasket with rounded corners.",
+    "Grab two breads the light golden brown bread and the braided bread loaf and place in the breadbasket for holding bread.",
+    "Grab both the hand-sized bread block and the round bread with braided top with the dual arm and place in the light brown basket for bread.",
+    "Lift the bread loaf with bumpy surface and the golden brown bread with two arms, put in the medium-sized rectangular breadbasket.",
+    "Move the bread loaf with bumpy surface and the round bread with crusty texture to the light brown wicker breadbasket",
+    "Use both arms to move the doughy and soft bread, the small bread to the breadbasket with rounded edges.",
+    "Shift the square-shaped bread and the smooth crusty small bread together to the brown breadbasket.",
+    "Use two arms and set the cuboid bread, the soft doughy bread in the smooth textured brown breadbasket.",
+    "Grab the bread loaf with bumpy surface and the small golden baked bread quickly and drop them into the brown breadbasket.",
+    "Take the doughy and soft bread and the round bread with crusty texture, place them inside the brown breadbasket.",
+    "Use the dual arm to place the bread with rough texture and the golden brown bread into the brown breadbasket."
+  ],
+  "unseen": [
+    "Use one arm to grab the bread loaf with soft surface and the braided top round bread, drop in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf and drop it into the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the round braided loaf and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the round braided loaf and place in the rectangular breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf and drop them into the rectangular breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the braided top round bread, then place them in the rectangular light brown breadbasket.",
+    "Place the bread loaf with soft surface and the braided top round bread into the rectangular breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the round braided loaf and put them in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the braided top round bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the braided top round bread, drop in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread and drop it into the medium light brown breadbasket.",
+    "Pick the bread loaf with soft surface and the palm-sized braided golden bread and place them in the medium light brown breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the round braided loaf and place in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the round braided loaf and drop them into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the round braided loaf, then place them in the rectangular breadbasket.",
+    "Place the rectangular bread loaf and the round braided loaf into the medium light brown breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread and put them in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread with two arms, place in the medium light brown breadbasket.",
+    "Use one arm to grab the bread with golden crust and the braided top round bread, drop in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and drop it into the rectangular breadbasket.",
+    "Pick the bread with golden crust and the palm-sized braided golden bread and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the round braided loaf and place in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf and drop them into the medium light brown breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the braided top round bread, then place them in the rectangular breadbasket.",
+    "Place the bread with golden crust and the palm-sized braided golden bread into the rectangular light brown breadbasket using the dual arm",
+    "Grab the bread with golden crust and the braided top round bread and put them in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the palm-sized braided golden bread with two arms, place in the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the palm-sized braided golden bread, drop in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf and drop it into the rectangular light brown breadbasket.",
+    "Pick the bread with golden crust and the palm-sized braided golden bread and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread and drop them into the rectangular breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the palm-sized braided golden bread, then place them in the medium light brown breadbasket.",
+    "Place the rectangular bread loaf and the round braided loaf into the rectangular breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and put them in the rectangular breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the round braided loaf, drop in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf and drop it into the medium light brown breadbasket.",
+    "Pick the rectangular bread loaf and the palm-sized braided golden bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the palm-sized braided golden bread and place in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and drop them into the rectangular breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the braided top round bread, then place them in the rectangular breadbasket.",
+    "Place the bread with golden crust and the round braided loaf into the medium light brown breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the braided top round bread and put them in the rectangular breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf with two arms, place in the rectangular breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the round braided loaf, drop in the rectangular breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and drop it into the medium light brown breadbasket.",
+    "Pick the bread loaf with soft surface and the round braided loaf and place them in the medium light brown breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the braided top round bread and place in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf and drop them into the medium light brown breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the round braided loaf, then place them in the rectangular light brown breadbasket.",
+    "Place the bread loaf with soft surface and the round braided loaf into the rectangular breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the braided top round bread and put them in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread with two arms, place in the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the round braided loaf, drop in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and drop it into the medium light brown breadbasket.",
+    "Pick the bread loaf with soft surface and the braided top round bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the palm-sized braided golden bread and place in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and drop them into the rectangular breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the round braided loaf, then place them in the rectangular light brown breadbasket.",
+    "Place the bread with golden crust and the braided top round bread into the medium light brown breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the round braided loaf and put them in the rectangular light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread with two arms, place in the medium light brown breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the palm-sized braided golden bread, drop in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread and drop it into the rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the palm-sized braided golden bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the braided top round bread and place in the medium light brown breadbasket.",
+    "Grab the bread with golden crust and the palm-sized braided golden bread and drop them into the medium light brown breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the round braided loaf, then place them in the medium light brown breadbasket.",
+    "Place the rectangular bread loaf and the round braided loaf into the rectangular light brown breadbasket using the dual arm",
+    "Grab the bread with golden crust and the palm-sized braided golden bread and put them in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf with two arms, place in the rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust and the round braided loaf, drop in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the round braided loaf and drop it into the medium light brown breadbasket.",
+    "Pick the rectangular bread loaf and the palm-sized braided golden bread and place them in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the braided top round bread and place in the rectangular breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread and drop them into the rectangular breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the palm-sized braided golden bread, then place them in the rectangular light brown breadbasket.",
+    "Place the rectangular bread loaf and the braided top round bread into the rectangular breadbasket using the dual arm",
+    "Grab the bread with golden crust and the round braided loaf and put them in the medium light brown breadbasket.",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread with two arms, place in the medium light brown breadbasket.",
+    "Use one arm to grab the bread with golden crust and the round braided loaf, drop in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and drop it into the rectangular breadbasket.",
+    "Pick the bread with golden crust and the braided top round bread and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the palm-sized braided golden bread and place in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread and drop them into the medium light brown breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the palm-sized braided golden bread, then place them in the rectangular breadbasket.",
+    "Place the bread with golden crust and the round braided loaf into the rectangular breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread and put them in the rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf with two arms, place in the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the round braided loaf, drop in the medium light brown breadbasket.",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread and drop it into the medium light brown breadbasket.",
+    "Pick the rectangular bread loaf and the round braided loaf and place them in the rectangular breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the palm-sized braided golden bread and place in the rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread and drop them into the rectangular breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the braided top round bread, then place them in the rectangular breadbasket.",
+    "Place the rectangular bread loaf and the round braided loaf into the medium light brown breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the round braided loaf and put them in the rectangular light brown breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf with two arms, place in the medium light brown breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the palm-sized braided golden bread, drop in the medium light brown breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode44.json b/place_bread_basket/demo_randomized/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d656729a5ff1b5e92fc67f2f7f33a03246dade8
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the brown loaf and the soft bread and set them in the basket with light brown weaving.",
+    "Take the brown loaf and the bread with rough texture, place them inside the breadbasket for small food items.",
+    "Grab both the bread with warm golden color and the hand-sized bread block with the dual arm and place in the medium oval breadbasket.",
+    "Pick the bread with split top and the cuboid bread for the the light brown breadbasket",
+    "Put the brown loaf and the golden bread loaf into the breadbasket with curved base using two arms.",
+    "Take the smooth loaf with rounded edges and the cuboid bread then place in the beige basket for holding bread.",
+    "Shift the smooth loaf with rounded edges and the cuboid bread into the oval basket for bread",
+    "Move the bread with warm golden color and the square-shaped bread to the breadbasket for small food items",
+    "Grab both the small golden brown bread and the bread block with light patches, drop into the two-hand-sized breadbasket.",
+    "Simultaneously grab the bread with split top and the hand-sized bread block using the dual arm, then drop them in the smooth-textured breadbasket.",
+    "Shift the smooth loaf with rounded edges and the golden bread loaf together to the beige basket for holding bread.",
+    "Lift the bread with golden-brown crust and the doughy and soft bread with two arms, put in the basket with light brown weaving.",
+    "Take the bread with split top and the bread loaf with uneven edges to the breadbasket with curved base",
+    "Simultaneously use the dual arm to drop the light brown loaf with smooth sides and the light golden brown bread in the beige basket for holding bread.",
+    "Place the bread with split top and the square-shaped bread in the beige basket for holding bread using the dual arm",
+    "Use two arms and set the hand-sized oval loaf, the soft bread in the smooth-textured breadbasket.",
+    "Use the dual arm to place the golden bread loaf and the soft bread into the basket with light brown weaving.",
+    "Lift the hand-sized oval loaf and the square-shaped bread at once with the dual arm, then set them in the two-hand-sized breadbasket.",
+    "Pick the bread with golden-brown crust and the bread loaf with uneven edges, place them in the smooth-textured breadbasket.",
+    "Use both arms to move the light brown loaf with smooth sides, the bread loaf with bumpy surface to the breadbasket with curved base.",
+    "Grab the brown loaf and the bread loaf with bumpy surface quickly and drop them into the light brown breadbasket.",
+    "Simultaneously grab the hand-sized oval loaf and the soft bread, drop in the two-hand-sized breadbasket.",
+    "Take the light brown loaf with smooth sides and the hand-sized bread block together and place them into the breadbasket with curved base.",
+    "Move the brown loaf and the soft bread at once into the oval basket for bread.",
+    "Grab two breads the bread with warm golden color and the golden bread and place in the breadbasket for small food items.",
+    "Pick up both the small golden brown bread and the soft bread, then place them in the synthetic material breadbasket.",
+    "Pick the bread with warm golden color and the bread loaf with bumpy surface and set them in the medium oval breadbasket.",
+    "Take the brown loaf and the doughy and soft bread, place them inside the breadbasket for small food items.",
+    "Grab both the light brown loaf with smooth sides and the doughy and soft bread with the dual arm and place in the light brown breadbasket.",
+    "Pick the soft brown bread and the doughy and soft bread for the the woven plastic breadbasket",
+    "Put the bread with warm golden color and the bread with rough texture into the smooth-textured breadbasket using two arms.",
+    "Take the bread with golden-brown crust and the doughy and soft bread then place in the oval basket for bread.",
+    "Shift the bread with golden-brown crust and the bread loaf with bumpy surface into the breadbasket with curved base",
+    "Move the bread with split top and the square-shaped bread to the smooth-textured breadbasket",
+    "Grab both the light brown bread with ridges and the soft bread, drop into the oval breadbasket.",
+    "Simultaneously grab the bread with split top and the bread with rough texture using the dual arm, then drop them in the beige basket for holding bread.",
+    "Shift the small golden brown bread and the light golden brown bread together to the smooth-textured breadbasket.",
+    "Lift the small loaf with curved top and the soft bread with two arms, put in the breadbasket with curved base.",
+    "Take the small golden brown bread and the bread loaf with bumpy surface to the two-hand-sized breadbasket",
+    "Simultaneously use the dual arm to drop the light brown loaf with smooth sides and the bread loaf with uneven edges in the breadbasket with curved base.",
+    "Place the bread with split top and the soft bread in the breadbasket with curved base using the dual arm",
+    "Use two arms and set the light brown bread with ridges, the golden bread in the basket with light brown weaving.",
+    "Use the dual arm to place the small golden brown bread and the bread loaf with bumpy surface into the medium oval breadbasket.",
+    "Lift the bread with golden-brown crust and the golden bread at once with the dual arm, then set them in the oval basket for bread.",
+    "Pick the golden bread loaf and the golden bread loaf, place them in the breadbasket with curved base.",
+    "Use both arms to move the bread with warm golden color, the light golden brown bread to the light brown breadbasket.",
+    "Grab the smooth loaf with rounded edges and the bread with rough texture quickly and drop them into the light brown breadbasket.",
+    "Simultaneously grab the bread with warm golden color and the bread loaf with uneven edges, drop in the synthetic material breadbasket.",
+    "Take the soft brown bread and the bread loaf with uneven edges together and place them into the breadbasket with curved base.",
+    "Move the golden bread loaf and the bread with rough texture at once into the medium oval breadbasket.",
+    "Grab two breads the soft brown bread and the golden bread loaf and place in the synthetic material breadbasket.",
+    "Pick up both the smooth loaf with rounded edges and the square-shaped bread, then place them in the breadbasket for small food items.",
+    "Pick the golden bread loaf and the doughy and soft bread and set them in the oval basket for bread.",
+    "Take the golden bread loaf and the hand-sized bread block, place them inside the oval basket for bread.",
+    "Grab both the light brown bread with ridges and the square-shaped bread with the dual arm and place in the smooth-textured breadbasket.",
+    "Pick the bread with split top and the bread loaf with uneven edges for the the basket with light brown weaving",
+    "Put the hand-sized oval loaf and the soft bread into the breadbasket with curved base using two arms.",
+    "Take the brown loaf and the light golden brown bread then place in the oval breadbasket.",
+    "Shift the golden bread loaf and the bread block with light patches into the oval basket for bread",
+    "Move the soft brown bread and the bread block with light patches to the woven plastic breadbasket",
+    "Grab both the small loaf with curved top and the square-shaped bread, drop into the medium oval breadbasket.",
+    "Simultaneously grab the golden bread loaf and the doughy and soft bread using the dual arm, then drop them in the oval breadbasket.",
+    "Shift the light brown bread with ridges and the golden bread loaf together to the breadbasket for small food items.",
+    "Lift the soft brown bread and the bread block with light patches with two arms, put in the synthetic material breadbasket.",
+    "Take the bread with split top and the light golden brown bread to the basket with light brown weaving",
+    "Simultaneously use the dual arm to drop the golden bread loaf and the bread loaf with bumpy surface in the beige basket for holding bread.",
+    "Place the small golden brown bread and the light golden brown bread in the woven plastic breadbasket using the dual arm",
+    "Use two arms and set the smooth loaf with rounded edges, the bread with rough texture in the beige basket for holding bread.",
+    "Use the dual arm to place the golden bread loaf and the light golden brown bread into the basket with light brown weaving.",
+    "Lift the small loaf with curved top and the light golden brown bread at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Pick the bread with golden-brown crust and the soft bread, place them in the beige basket for holding bread.",
+    "Use both arms to move the smooth loaf with rounded edges, the soft bread to the light brown breadbasket.",
+    "Grab the bread with split top and the bread with rough texture quickly and drop them into the oval breadbasket.",
+    "Simultaneously grab the soft brown bread and the square-shaped bread, drop in the oval breadbasket.",
+    "Take the small golden brown bread and the light golden brown bread together and place them into the smooth-textured breadbasket.",
+    "Move the bread with warm golden color and the soft bread at once into the two-hand-sized breadbasket.",
+    "Grab two breads the bread with golden-brown crust and the doughy and soft bread and place in the oval breadbasket.",
+    "Pick up both the bread with split top and the bread loaf with bumpy surface, then place them in the synthetic material breadbasket.",
+    "Pick the soft brown bread and the golden bread loaf and set them in the breadbasket for small food items.",
+    "Take the brown loaf and the square-shaped bread, place them inside the two-hand-sized breadbasket.",
+    "Grab both the small loaf with curved top and the square-shaped bread with the dual arm and place in the synthetic material breadbasket.",
+    "Pick the bread with warm golden color and the doughy and soft bread for the the woven plastic breadbasket",
+    "Put the light brown bread with ridges and the light golden brown bread into the basket with light brown weaving using two arms.",
+    "Take the small golden brown bread and the bread loaf with bumpy surface then place in the light brown breadbasket.",
+    "Shift the small golden brown bread and the bread block with light patches into the medium oval breadbasket",
+    "Move the small golden brown bread and the bread loaf with uneven edges to the two-hand-sized breadbasket",
+    "Grab both the light brown loaf with smooth sides and the bread loaf with uneven edges, drop into the two-hand-sized breadbasket.",
+    "Simultaneously grab the small loaf with curved top and the bread loaf with bumpy surface using the dual arm, then drop them in the synthetic material breadbasket.",
+    "Shift the light brown bread with ridges and the square-shaped bread together to the breadbasket with curved base.",
+    "Lift the brown loaf and the bread loaf with uneven edges with two arms, put in the synthetic material breadbasket.",
+    "Take the soft brown bread and the hand-sized bread block to the two-hand-sized breadbasket",
+    "Simultaneously use the dual arm to drop the brown loaf and the hand-sized bread block in the beige basket for holding bread.",
+    "Place the soft brown bread and the cuboid bread in the smooth-textured breadbasket using the dual arm",
+    "Use two arms and set the smooth loaf with rounded edges, the bread loaf with bumpy surface in the medium oval breadbasket.",
+    "Use the dual arm to place the bread with split top and the bread loaf with bumpy surface into the light brown breadbasket.",
+    "Lift the soft brown bread and the bread loaf with uneven edges at once with the dual arm, then set them in the breadbasket with curved base.",
+    "Pick the small loaf with curved top and the bread with rough texture, place them in the smooth-textured breadbasket.",
+    "Use both arms to move the hand-sized oval loaf, the golden bread loaf to the breadbasket with curved base.",
+    "Grab the light brown loaf with smooth sides and the doughy and soft bread quickly and drop them into the woven plastic breadbasket.",
+    "Simultaneously grab the hand-sized oval loaf and the bread with rough texture, drop in the basket with light brown weaving."
+  ],
+  "unseen": [
+    "Grab the oval-shaped soft bread and the bread with golden crust with two arms, place in the breadbasket with ridged texture.",
+    "Grab the oval bread and the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread with golden crust and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf with soft surface and place in the breadbasket with ridged texture.",
+    "Place the oval-shaped soft bread and the bread loaf with soft surface into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval-shaped soft bread and the rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Pick the oval bread and the bread with golden crust and place them in the beige breadbasket.",
+    "Grab the oval bread and the rectangular bread loaf and put them in the beige breadbasket.",
+    "Use one arm to grab the oval bread and the bread with golden crust, drop in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the bread with golden crust with two arms, place in the beige breadbasket.",
+    "Grab the rounded oval bread and the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval bread and the bread loaf with soft surface and place in the breadbasket with ridged texture.",
+    "Place the oval-shaped soft bread and the rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Pick the rounded oval bread and the rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Grab the oval bread and the bread with golden crust and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval bread and the bread with golden crust, drop in the beige breadbasket.",
+    "Grab the oval bread and the bread with golden crust with two arms, place in the beige breadbasket.",
+    "Grab the rounded oval bread and the bread loaf with soft surface and drop it into the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread with golden crust and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval bread and the rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Place the rounded oval bread and the bread loaf with soft surface into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf with soft surface, then place them in the breadbasket with ridged texture.",
+    "Pick the oval-shaped soft bread and the bread with golden crust and place them in the beige breadbasket.",
+    "Grab the oval bread and the bread with golden crust and put them in the beige breadbasket.",
+    "Use one arm to grab the oval bread and the bread with golden crust, drop in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the bread with golden crust with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval bread and the rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Grab the oval bread and the rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval bread and the bread loaf with soft surface and place in the beige breadbasket.",
+    "Place the rounded oval bread and the bread loaf with soft surface into the medium-sized breadbasket using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf with soft surface, then place them in the breadbasket with ridged texture.",
+    "Pick the oval-shaped soft bread and the bread with golden crust and place them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the bread with golden crust and put them in the medium-sized breadbasket.",
+    "Use one arm to grab the rounded oval bread and the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Grab the oval bread and the rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Grab the oval bread and the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval-shaped soft bread and the rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Place the rounded oval bread and the rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf with soft surface, then place them in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the rectangular bread loaf and put them in the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf with soft surface and drop them into the medium-sized breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf with soft surface and place in the medium-sized breadbasket.",
+    "Place the rounded oval bread and the bread with golden crust into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the bread with golden crust, then place them in the breadbasket with ridged texture.",
+    "Pick the oval bread and the bread with golden crust and place them in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the bread with golden crust and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf with soft surface, drop in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread loaf with soft surface with two arms, place in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread with golden crust and drop it into the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread with golden crust and place in the medium-sized breadbasket.",
+    "Place the oval-shaped soft bread and the rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick up the oval-shaped soft bread and the rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Pick the oval bread and the rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread with golden crust and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the rounded oval bread and the bread with golden crust, drop in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread loaf with soft surface with two arms, place in the medium-sized breadbasket.",
+    "Grab the oval bread and the bread loaf with soft surface and drop it into the breadbasket with ridged texture.",
+    "Grab the oval bread and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf with soft surface and place in the beige breadbasket.",
+    "Place the oval bread and the rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the bread with golden crust, then place them in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the rectangular bread loaf and put them in the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf with soft surface, drop in the breadbasket with ridged texture.",
+    "Grab the oval bread and the bread loaf with soft surface with two arms, place in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Grab the rounded oval bread and the bread with golden crust and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf with soft surface and place in the medium-sized breadbasket.",
+    "Place the oval bread and the rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval-shaped soft bread and the bread loaf with soft surface, then place them in the breadbasket with ridged texture.",
+    "Pick the oval-shaped soft bread and the rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the oval bread and the bread with golden crust and put them in the beige breadbasket.",
+    "Use one arm to grab the oval bread and the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Grab the rounded oval bread and the bread loaf with soft surface with two arms, place in the beige breadbasket.",
+    "Grab the rounded oval bread and the rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf with soft surface and drop them into the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rounded oval bread and the rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Place the oval-shaped soft bread and the bread with golden crust into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick up the oval-shaped soft bread and the bread loaf with soft surface, then place them in the medium-sized breadbasket.",
+    "Pick the oval bread and the bread with golden crust and place them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread with golden crust and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval bread and the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Grab the oval bread and the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the oval bread and the bread loaf with soft surface and drop them into the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the bread loaf with soft surface and place in the beige breadbasket.",
+    "Place the oval-shaped soft bread and the rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread with golden crust and put them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf with soft surface, drop in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the rectangular bread loaf with two arms, place in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode45.json b/place_bread_basket/demo_randomized/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef6fb07646f03bfa17f204c1739ef83c6d66c64b
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the soft brown bread and the golden brown bread then place in the light beige rectangular breadbasket.",
+    "Grab the light brown loaf with smooth sides and the fluffy baked bread quickly and drop them into the light beige rectangular breadbasket.",
+    "Pick the light brown bread with ridges and the soft square bread for the the breadbasket with textured sides",
+    "Simultaneously use the right arm to drop the small golden brown bread and the fluffy baked bread in the plastic breadbasket with mesh sides.",
+    "Shift the hand-sized oval loaf and the bread with rounded edges into the plastic mesh breadbasket",
+    "Place the soft brown bread and the bread with soft texture in the plastic mesh breadbasket using the right arm",
+    "Lift the bread with split top and the medium-sized bread piece with two arms, put in the light and textured breadbasket.",
+    "Take the brown loaf and the golden brown bread, place them inside the light beige rectangular breadbasket.",
+    "Grab both the smooth loaf with rounded edges and the square-shaped bread piece, drop into the breadbasket with textured sides.",
+    "Grab two breads the bread with golden-brown crust and the light brown porous bread and place in the beige breadbasket.",
+    "Use both arms to move the small golden brown bread, the square-shaped bread piece to the breadbasket with textured sides.",
+    "Pick the soft brown bread and the square-shaped bread piece, place them in the plastic mesh breadbasket.",
+    "Use two arms and set the golden bread loaf, the medium-sized bread piece in the rectangular breadbasket.",
+    "Pick the golden bread loaf and the light brown porous bread and set them in the medium rectangular breadbasket.",
+    "Put the golden bread loaf and the bread with rounded edges into the woven light beige breadbasket using two arms.",
+    "Pick up both the small loaf with curved top and the fluffy baked bread, then place them in the woven light beige breadbasket.",
+    "Move the small golden brown bread and the soft square bread at once into the plastic mesh breadbasket.",
+    "Use the right arm to place the golden bread loaf and the sponge-textured golden bread into the plastic breadbasket with mesh sides.",
+    "Take the hand-sized oval loaf and the medium-sized bread piece to the breadbasket with textured sides",
+    "Shift the golden bread loaf and the rounded square loaf together to the beige breadbasket.",
+    "Simultaneously grab the bread with golden-brown crust and the soft square bread, drop in the breadbasket for bread storage.",
+    "Move the golden bread loaf and the fluffy baked bread to the light and textured breadbasket",
+    "Simultaneously grab the small golden brown bread and the bread with rounded edges using the right arm, then drop them in the textured beige breadbasket.",
+    "Lift the golden bread loaf and the golden brown bread at once with the right arm, then set them in the medium rectangular breadbasket.",
+    "Take the smooth loaf with rounded edges and the medium-sized bread piece together and place them into the breadbasket for bread storage.",
+    "Grab both the light brown bread with ridges and the bread with rounded edges with the right arm and place in the breadbasket with textured sides.",
+    "Take the small golden brown bread and the bread with rounded edges then place in the beige breadbasket.",
+    "Grab the small loaf with curved top and the rounded square loaf quickly and drop them into the plastic breadbasket with mesh sides.",
+    "Pick the light brown bread with ridges and the medium-sized bread piece for the the medium rectangular breadbasket",
+    "Simultaneously use the right arm to drop the brown loaf and the soft square bread in the light and textured breadbasket.",
+    "Shift the golden bread loaf and the rounded square loaf into the plastic mesh breadbasket",
+    "Place the golden bread loaf and the sponge-textured golden bread in the rectangular breadbasket using the right arm",
+    "Lift the bread with split top and the medium bread with rounded sides with two arms, put in the rectangular breadbasket.",
+    "Take the brown loaf and the medium bread with rounded sides, place them inside the medium rectangular breadbasket.",
+    "Grab both the light brown bread with ridges and the soft square bread, drop into the light and textured breadbasket.",
+    "Grab two breads the bread with golden-brown crust and the square-shaped bread piece and place in the plastic breadbasket with mesh sides.",
+    "Use both arms to move the soft brown bread, the golden baked bread to the breadbasket with textured sides.",
+    "Pick the light brown loaf with smooth sides and the sponge-textured golden bread, place them in the light and textured breadbasket.",
+    "Use two arms and set the brown loaf, the square-shaped bread piece in the beige breadbasket for holding bread.",
+    "Pick the bread with warm golden color and the medium-sized bread piece and set them in the light beige rectangular breadbasket.",
+    "Put the brown loaf and the light brown porous bread into the plastic mesh breadbasket using two arms.",
+    "Pick up both the small golden brown bread and the golden brown bread, then place them in the woven light beige breadbasket.",
+    "Move the golden bread loaf and the bread with soft texture at once into the plastic mesh breadbasket.",
+    "Use the right arm to place the brown loaf and the square-shaped bread piece into the woven light beige breadbasket.",
+    "Take the brown loaf and the light brown porous bread to the beige breadbasket",
+    "Shift the bread with golden-brown crust and the square-shaped bread piece together to the textured beige breadbasket.",
+    "Simultaneously grab the bread with golden-brown crust and the fluffy baked bread, drop in the plastic breadbasket with mesh sides.",
+    "Move the golden bread loaf and the golden brown bread to the textured beige breadbasket",
+    "Simultaneously grab the bread with golden-brown crust and the bread with rounded edges using the right arm, then drop them in the breadbasket for bread storage.",
+    "Lift the light brown loaf with smooth sides and the medium bread with rounded sides at once with the right arm, then set them in the rectangular breadbasket.",
+    "Take the smooth loaf with rounded edges and the bread with soft texture together and place them into the plastic breadbasket with mesh sides.",
+    "Grab both the soft brown bread and the medium bread with rounded sides with the right arm and place in the rectangular breadbasket.",
+    "Take the soft brown bread and the light brown porous bread then place in the woven light beige breadbasket.",
+    "Grab the golden bread loaf and the medium-sized bread piece quickly and drop them into the textured beige breadbasket.",
+    "Pick the golden bread loaf and the medium-sized bread piece for the the textured beige breadbasket",
+    "Simultaneously use the right arm to drop the brown loaf and the medium bread with rounded sides in the woven light beige breadbasket.",
+    "Shift the hand-sized oval loaf and the medium-sized bread piece into the beige breadbasket",
+    "Place the small golden brown bread and the bread with rounded edges in the breadbasket with textured sides using the right arm",
+    "Lift the small golden brown bread and the sponge-textured golden bread with two arms, put in the beige breadbasket.",
+    "Take the small golden brown bread and the bread with rounded edges, place them inside the plastic breadbasket with mesh sides.",
+    "Grab both the golden bread loaf and the square-shaped bread piece, drop into the breadbasket with textured sides.",
+    "Grab two breads the smooth loaf with rounded edges and the fluffy baked bread and place in the medium rectangular breadbasket.",
+    "Use both arms to move the smooth loaf with rounded edges, the golden baked bread to the beige breadbasket.",
+    "Pick the bread with split top and the soft square bread, place them in the breadbasket for bread storage.",
+    "Use two arms and set the soft brown bread, the sponge-textured golden bread in the medium rectangular breadbasket.",
+    "Pick the light brown bread with ridges and the soft square bread and set them in the medium rectangular breadbasket.",
+    "Put the bread with golden-brown crust and the bread with soft texture into the woven light beige breadbasket using two arms.",
+    "Pick up both the light brown bread with ridges and the medium bread with rounded sides, then place them in the medium rectangular breadbasket.",
+    "Move the light brown loaf with smooth sides and the golden brown bread at once into the breadbasket for bread storage.",
+    "Use the right arm to place the bread with golden-brown crust and the golden brown bread into the beige breadbasket.",
+    "Take the smooth loaf with rounded edges and the medium-sized bread piece to the beige breadbasket",
+    "Shift the bread with warm golden color and the light brown porous bread together to the beige breadbasket for holding bread.",
+    "Simultaneously grab the smooth loaf with rounded edges and the golden baked bread, drop in the textured beige breadbasket.",
+    "Move the bread with warm golden color and the light brown porous bread to the light beige rectangular breadbasket",
+    "Simultaneously grab the light brown loaf with smooth sides and the bread with rounded edges using the right arm, then drop them in the light and textured breadbasket.",
+    "Lift the light brown loaf with smooth sides and the golden brown bread at once with the right arm, then set them in the plastic breadbasket with mesh sides.",
+    "Take the bread with split top and the light brown porous bread together and place them into the beige breadbasket.",
+    "Grab both the bread with golden-brown crust and the fluffy baked bread with the right arm and place in the breadbasket for bread storage.",
+    "Take the bread with split top and the fluffy baked bread then place in the rectangular breadbasket.",
+    "Grab the soft brown bread and the fluffy baked bread quickly and drop them into the light and textured breadbasket.",
+    "Pick the light brown bread with ridges and the sponge-textured golden bread for the the beige breadbasket",
+    "Simultaneously use the right arm to drop the light brown loaf with smooth sides and the bread with rounded edges in the plastic mesh breadbasket.",
+    "Shift the brown loaf and the light brown porous bread into the rectangular breadbasket",
+    "Place the small golden brown bread and the rounded square loaf in the light and textured breadbasket using the right arm",
+    "Lift the smooth loaf with rounded edges and the soft square bread with two arms, put in the beige breadbasket for holding bread.",
+    "Take the light brown bread with ridges and the fluffy baked bread, place them inside the woven light beige breadbasket.",
+    "Grab both the hand-sized oval loaf and the rounded square loaf, drop into the beige breadbasket.",
+    "Grab two breads the light brown bread with ridges and the golden brown bread and place in the beige breadbasket for holding bread.",
+    "Use both arms to move the smooth loaf with rounded edges, the bread with soft texture to the beige breadbasket.",
+    "Pick the light brown bread with ridges and the soft square bread, place them in the plastic mesh breadbasket.",
+    "Use two arms and set the bread with split top, the square-shaped bread piece in the textured beige breadbasket.",
+    "Pick the hand-sized oval loaf and the square-shaped bread piece and set them in the medium rectangular breadbasket.",
+    "Put the bread with split top and the fluffy baked bread into the woven light beige breadbasket using two arms.",
+    "Pick up both the light brown bread with ridges and the golden brown bread, then place them in the beige breadbasket.",
+    "Move the light brown loaf with smooth sides and the light brown porous bread at once into the beige breadbasket.",
+    "Use the right arm to place the light brown loaf with smooth sides and the golden brown bread into the beige breadbasket for holding bread.",
+    "Take the brown loaf and the medium bread with rounded sides to the plastic breadbasket with mesh sides",
+    "Shift the small loaf with curved top and the medium-sized bread piece together to the plastic breadbasket with mesh sides.",
+    "Simultaneously grab the smooth loaf with rounded edges and the bread with soft texture, drop in the woven light beige breadbasket.",
+    "Move the light brown bread with ridges and the bread with rounded edges to the light beige rectangular breadbasket"
+  ],
+  "unseen": [
+    "Grab the oval bread and the soft bread with golden edges and drop them into the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the rounded oval bread and the spongy golden brown bread, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the spongy golden brown bread with two arms, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the oval-shaped soft bread and the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and put them in the shallow rectangular breadbasket.",
+    "Pick the rounded oval bread and the spongy golden brown bread and place them in the woven shallow breadbasket.",
+    "Grab the oval bread and the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Place the oval-shaped soft bread and the soft bread with golden edges into the breadbasket with woven pattern using the right arm",
+    "Grab the oval-shaped soft bread and the square bread with light spots and drop them into the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the rounded oval bread and the soft bread with golden edges, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the rounded oval bread and the soft bread with golden edges, drop in the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the spongy golden brown bread with two arms, place in the woven shallow breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and the spongy golden brown bread and place in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the spongy golden brown bread and put them in the breadbasket with woven pattern.",
+    "Pick the oval bread and the spongy golden brown bread and place them in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the soft bread with golden edges and drop it into the shallow rectangular breadbasket.",
+    "Place the rounded oval bread and the square bread with light spots into the shallow rectangular breadbasket using the right arm",
+    "Grab the rounded oval bread and the square bread with light spots and drop them into the breadbasket with woven pattern.",
+    "Use the right arm to pick up the oval bread and the soft bread with golden edges, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the oval-shaped soft bread and the square bread with light spots, drop in the breadbasket with woven pattern.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges with two arms, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the oval-shaped soft bread and the soft bread with golden edges and place in the woven shallow breadbasket.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and put them in the woven shallow breadbasket.",
+    "Pick the oval-shaped soft bread and the spongy golden brown bread and place them in the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Place the oval bread and the square bread with light spots into the woven shallow breadbasket using the right arm",
+    "Grab the oval bread and the square bread with light spots and drop them into the woven shallow breadbasket.",
+    "Use the right arm to pick up the rounded oval bread and the soft bread with golden edges, then place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Grab the oval bread and the square bread with light spots with two arms, place in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the rounded oval bread and the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the oval bread and the spongy golden brown bread and put them in the breadbasket with woven pattern.",
+    "Pick the rounded oval bread and the spongy golden brown bread and place them in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the soft bread with golden edges and drop it into the shallow rectangular breadbasket.",
+    "Place the oval bread and the square bread with light spots into the breadbasket with woven pattern using the right arm",
+    "Grab the oval bread and the soft bread with golden edges and drop them into the woven shallow breadbasket.",
+    "Use the right arm to pick up the oval-shaped soft bread and the square bread with light spots, then place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the rounded oval bread and the soft bread with golden edges, drop in the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the spongy golden brown bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the oval bread and the spongy golden brown bread and place in the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the spongy golden brown bread and put them in the woven shallow breadbasket.",
+    "Pick the oval-shaped soft bread and the square bread with light spots and place them in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Place the rounded oval bread and the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Grab the rounded oval bread and the soft bread with golden edges and drop them into the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the oval-shaped soft bread and the spongy golden brown bread, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the oval bread and the spongy golden brown bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread with two arms, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the rounded oval bread and the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges and put them in the shallow rectangular breadbasket.",
+    "Pick the oval bread and the soft bread with golden edges and place them in the breadbasket with woven pattern.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and drop it into the breadbasket with woven pattern.",
+    "Place the oval bread and the spongy golden brown bread into the breadbasket with woven pattern using the right arm",
+    "Grab the oval bread and the soft bread with golden edges and drop them into the woven shallow breadbasket.",
+    "Use the right arm to pick up the oval bread and the soft bread with golden edges, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the spongy golden brown bread, drop in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the square bread with light spots with two arms, place in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and the spongy golden brown bread and place in the shallow rectangular breadbasket.",
+    "Grab the rounded oval bread and the spongy golden brown bread and put them in the woven shallow breadbasket.",
+    "Pick the oval-shaped soft bread and the soft bread with golden edges and place them in the woven shallow breadbasket.",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Place the oval bread and the square bread with light spots into the breadbasket with woven pattern using the right arm",
+    "Grab the rounded oval bread and the square bread with light spots and drop them into the breadbasket with woven pattern.",
+    "Use the right arm to pick up the rounded oval bread and the spongy golden brown bread, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the rounded oval bread and the square bread with light spots, drop in the shallow rectangular breadbasket.",
+    "Grab the oval bread and the soft bread with golden edges with two arms, place in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and the spongy golden brown bread and place in the breadbasket with woven pattern.",
+    "Grab the oval bread and the spongy golden brown bread and put them in the shallow rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and the soft bread with golden edges and place them in the shallow rectangular breadbasket.",
+    "Grab the rounded oval bread and the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Place the oval-shaped soft bread and the square bread with light spots into the shallow rectangular breadbasket using the right arm",
+    "Grab the oval bread and the spongy golden brown bread and drop them into the breadbasket with woven pattern.",
+    "Use the right arm to pick up the oval-shaped soft bread and the square bread with light spots, then place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the square bread with light spots, drop in the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the soft bread with golden edges with two arms, place in the woven shallow breadbasket.",
+    "Use the right arm to pick the oval bread and the square bread with light spots and place in the woven shallow breadbasket.",
+    "Grab the oval bread and the square bread with light spots and put them in the breadbasket with woven pattern.",
+    "Pick the oval bread and the soft bread with golden edges and place them in the woven shallow breadbasket.",
+    "Grab the rounded oval bread and the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Place the rounded oval bread and the square bread with light spots into the shallow rectangular breadbasket using the right arm",
+    "Grab the rounded oval bread and the square bread with light spots and drop them into the woven shallow breadbasket.",
+    "Use the right arm to pick up the oval-shaped soft bread and the square bread with light spots, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval bread and the soft bread with golden edges, drop in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges with two arms, place in the woven shallow breadbasket.",
+    "Use the right arm to pick the rounded oval bread and the spongy golden brown bread and place in the woven shallow breadbasket.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and put them in the breadbasket with woven pattern.",
+    "Pick the oval-shaped soft bread and the spongy golden brown bread and place them in the shallow rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Place the oval-shaped soft bread and the square bread with light spots into the shallow rectangular breadbasket using the right arm",
+    "Grab the oval bread and the soft bread with golden edges and drop them into the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the oval-shaped soft bread and the soft bread with golden edges, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the oval bread and the spongy golden brown bread, drop in the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the square bread with light spots with two arms, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick the rounded oval bread and the soft bread with golden edges and place in the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the square bread with light spots and put them in the shallow rectangular breadbasket.",
+    "Pick the oval-shaped soft bread and the soft bread with golden edges and place them in the breadbasket with woven pattern.",
+    "Grab the rounded oval bread and the square bread with light spots and drop it into the breadbasket with woven pattern.",
+    "Place the oval bread and the square bread with light spots into the breadbasket with woven pattern using the right arm",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread and drop them into the shallow rectangular breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode46.json b/place_bread_basket/demo_randomized/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..84179901d9402ed955cc305ba93b7ff37b7f4f37
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab both the small golden brown bread and the bread with soft texture, drop into the beige plastic breadbasket.",
+    "Grab two breads the soft brown bread and the soft square bread and place in the oval perforated breadbasket white edges.",
+    "Simultaneously grab the hand-sized oval loaf and the soft square bread, drop in the beige basket with white grid design.",
+    "Pick the brown loaf and the golden baked bread for the the medium breadbasket with perforated sides",
+    "Pick the light brown bread with ridges and the golden brown bread and set them in the medium oval basket for bread.",
+    "Grab both the brown loaf and the bread with soft texture with the dual arm and place in the oval perforated breadbasket white edges.",
+    "Lift the light brown bread with ridges and the fluffy baked bread with two arms, put in the beige plastic breadbasket.",
+    "Place the small golden brown bread and the square-shaped bread piece in the white oval breadbasket using the dual arm",
+    "Simultaneously use the dual arm to drop the bread with split top and the sponge-textured golden bread in the beige breadbasket.",
+    "Lift the smooth loaf with rounded edges and the soft square bread at once with the dual arm, then set them in the oval perforated breadbasket white edges.",
+    "Take the hand-sized oval loaf and the rounded square loaf, place them inside the white oval breadbasket.",
+    "Put the bread with split top and the light brown porous bread into the oval-shaped breadbasket using two arms.",
+    "Use two arms and set the bread with golden-brown crust, the square-shaped bread piece in the oval-shaped breadbasket.",
+    "Shift the golden bread loaf and the medium-sized bread piece together to the medium plastic breadbasket oval shape.",
+    "Pick the bread with golden-brown crust and the square-shaped bread piece, place them in the white oval breadbasket.",
+    "Pick up both the small loaf with curved top and the rounded square loaf, then place them in the beige plastic breadbasket.",
+    "Take the light brown bread with ridges and the sponge-textured golden bread to the beige plastic breadbasket",
+    "Move the bread with warm golden color and the soft square bread at once into the medium breadbasket with perforated sides.",
+    "Take the bread with warm golden color and the square-shaped bread piece together and place them into the beige plastic breadbasket.",
+    "Take the light brown loaf with smooth sides and the square-shaped bread piece then place in the basket for carrying bread beige.",
+    "Shift the small loaf with curved top and the medium-sized bread piece into the oval perforated breadbasket white edges",
+    "Move the brown loaf and the fluffy baked bread to the basket for carrying bread beige",
+    "Use the dual arm to place the soft brown bread and the medium bread with rounded sides into the white oval breadbasket.",
+    "Grab the bread with split top and the sponge-textured golden bread quickly and drop them into the beige basket with white grid design.",
+    "Simultaneously grab the small loaf with curved top and the soft square bread using the dual arm, then drop them in the smooth textured breadbasket.",
+    "Use both arms to move the light brown bread with ridges, the light brown porous bread to the white oval breadbasket.",
+    "Grab both the smooth loaf with rounded edges and the golden baked bread, drop into the oval-shaped breadbasket.",
+    "Grab two breads the light brown bread with ridges and the light brown porous bread and place in the basket for carrying bread beige.",
+    "Simultaneously grab the hand-sized oval loaf and the medium bread with rounded sides, drop in the beige breadbasket.",
+    "Pick the golden bread loaf and the golden baked bread for the the medium oval basket for bread",
+    "Pick the brown loaf and the square-shaped bread piece and set them in the beige breadbasket.",
+    "Grab both the smooth loaf with rounded edges and the golden brown bread with the dual arm and place in the white oval breadbasket.",
+    "Lift the light brown loaf with smooth sides and the golden baked bread with two arms, put in the medium oval basket for bread.",
+    "Place the soft brown bread and the medium bread with rounded sides in the oval-shaped breadbasket using the dual arm",
+    "Simultaneously use the dual arm to drop the bread with golden-brown crust and the square-shaped bread piece in the basket for bread beige plastic.",
+    "Lift the bread with golden-brown crust and the bread with rounded edges at once with the dual arm, then set them in the beige plastic breadbasket.",
+    "Take the light brown loaf with smooth sides and the bread with soft texture, place them inside the oval-shaped breadbasket.",
+    "Put the light brown loaf with smooth sides and the square-shaped bread piece into the medium plastic breadbasket oval shape using two arms.",
+    "Use two arms and set the hand-sized oval loaf, the sponge-textured golden bread in the smooth textured breadbasket.",
+    "Shift the small loaf with curved top and the golden baked bread together to the medium breadbasket with perforated sides.",
+    "Pick the light brown bread with ridges and the medium-sized bread piece, place them in the beige breadbasket.",
+    "Pick up both the bread with split top and the medium-sized bread piece, then place them in the medium oval basket for bread.",
+    "Take the bread with golden-brown crust and the bread with rounded edges to the white oval breadbasket",
+    "Move the hand-sized oval loaf and the medium bread with rounded sides at once into the oval perforated breadbasket white edges.",
+    "Take the small golden brown bread and the square-shaped bread piece together and place them into the beige breadbasket.",
+    "Take the light brown bread with ridges and the golden baked bread then place in the white oval breadbasket.",
+    "Shift the bread with split top and the sponge-textured golden bread into the medium oval basket for bread",
+    "Move the bread with warm golden color and the soft square bread to the medium breadbasket with perforated sides",
+    "Use the dual arm to place the light brown loaf with smooth sides and the golden baked bread into the medium breadbasket with perforated sides.",
+    "Grab the light brown loaf with smooth sides and the square-shaped bread piece quickly and drop them into the basket for carrying bread beige.",
+    "Simultaneously grab the hand-sized oval loaf and the golden baked bread using the dual arm, then drop them in the oval-shaped breadbasket.",
+    "Use both arms to move the light brown loaf with smooth sides, the square-shaped bread piece to the medium plastic breadbasket oval shape.",
+    "Grab both the small loaf with curved top and the medium-sized bread piece, drop into the medium oval basket for bread.",
+    "Grab two breads the soft brown bread and the medium bread with rounded sides and place in the medium breadbasket with perforated sides.",
+    "Simultaneously grab the bread with warm golden color and the bread with rounded edges, drop in the beige plastic breadbasket.",
+    "Pick the soft brown bread and the square-shaped bread piece for the the medium oval basket for bread",
+    "Pick the bread with golden-brown crust and the fluffy baked bread and set them in the medium oval basket for bread.",
+    "Grab both the smooth loaf with rounded edges and the medium bread with rounded sides with the dual arm and place in the medium plastic breadbasket oval shape.",
+    "Lift the light brown loaf with smooth sides and the medium bread with rounded sides with two arms, put in the beige plastic breadbasket.",
+    "Place the smooth loaf with rounded edges and the sponge-textured golden bread in the beige breadbasket using the dual arm",
+    "Simultaneously use the dual arm to drop the light brown bread with ridges and the medium bread with rounded sides in the beige plastic breadbasket.",
+    "Lift the small loaf with curved top and the sponge-textured golden bread at once with the dual arm, then set them in the medium breadbasket with perforated sides.",
+    "Take the smooth loaf with rounded edges and the medium-sized bread piece, place them inside the oval-shaped breadbasket.",
+    "Put the small golden brown bread and the bread with rounded edges into the beige basket with white grid design using two arms.",
+    "Use two arms and set the bread with split top, the rounded square loaf in the medium plastic breadbasket oval shape.",
+    "Shift the bread with split top and the bread with soft texture together to the basket for carrying bread beige.",
+    "Pick the bread with warm golden color and the medium-sized bread piece, place them in the basket for bread beige plastic.",
+    "Pick up both the bread with golden-brown crust and the medium bread with rounded sides, then place them in the beige breadbasket.",
+    "Take the bread with warm golden color and the rounded square loaf to the basket for carrying bread beige",
+    "Move the light brown loaf with smooth sides and the medium-sized bread piece at once into the medium plastic breadbasket oval shape.",
+    "Take the soft brown bread and the sponge-textured golden bread together and place them into the white oval breadbasket.",
+    "Take the smooth loaf with rounded edges and the golden brown bread then place in the beige basket with white grid design.",
+    "Shift the small loaf with curved top and the square-shaped bread piece into the medium plastic breadbasket oval shape",
+    "Move the brown loaf and the light brown porous bread to the oval perforated breadbasket white edges",
+    "Use the dual arm to place the smooth loaf with rounded edges and the medium bread with rounded sides into the beige basket with white grid design.",
+    "Grab the bread with warm golden color and the light brown porous bread quickly and drop them into the basket for carrying bread beige.",
+    "Simultaneously grab the light brown loaf with smooth sides and the sponge-textured golden bread using the dual arm, then drop them in the oval-shaped breadbasket.",
+    "Use both arms to move the bread with split top, the soft square bread to the oval-shaped breadbasket.",
+    "Grab both the bread with golden-brown crust and the rounded square loaf, drop into the medium plastic breadbasket oval shape.",
+    "Grab two breads the small golden brown bread and the fluffy baked bread and place in the medium plastic breadbasket oval shape.",
+    "Simultaneously grab the bread with golden-brown crust and the light brown porous bread, drop in the oval perforated breadbasket white edges.",
+    "Pick the bread with golden-brown crust and the sponge-textured golden bread for the the basket for carrying bread beige",
+    "Pick the light brown bread with ridges and the medium bread with rounded sides and set them in the basket for bread beige plastic.",
+    "Grab both the bread with golden-brown crust and the rounded square loaf with the dual arm and place in the medium plastic breadbasket oval shape.",
+    "Lift the small loaf with curved top and the bread with soft texture with two arms, put in the basket for carrying bread beige.",
+    "Place the light brown bread with ridges and the sponge-textured golden bread in the oval perforated breadbasket white edges using the dual arm",
+    "Simultaneously use the dual arm to drop the bread with warm golden color and the soft square bread in the medium breadbasket with perforated sides.",
+    "Lift the bread with golden-brown crust and the soft square bread at once with the dual arm, then set them in the oval perforated breadbasket white edges.",
+    "Take the bread with warm golden color and the medium bread with rounded sides, place them inside the basket for carrying bread beige.",
+    "Put the smooth loaf with rounded edges and the soft square bread into the beige breadbasket using two arms.",
+    "Use two arms and set the bread with split top, the medium bread with rounded sides in the medium plastic breadbasket oval shape.",
+    "Shift the small loaf with curved top and the fluffy baked bread together to the beige breadbasket.",
+    "Pick the soft brown bread and the fluffy baked bread, place them in the medium plastic breadbasket oval shape.",
+    "Pick up both the light brown loaf with smooth sides and the medium-sized bread piece, then place them in the beige plastic breadbasket.",
+    "Take the brown loaf and the light brown porous bread to the oval-shaped breadbasket",
+    "Move the bread with split top and the fluffy baked bread at once into the beige basket with white grid design.",
+    "Take the hand-sized oval loaf and the rounded square loaf together and place them into the oval-shaped breadbasket.",
+    "Take the soft brown bread and the light brown porous bread then place in the medium plastic breadbasket oval shape.",
+    "Shift the smooth loaf with rounded edges and the soft square bread into the oval perforated breadbasket white edges",
+    "Move the light brown bread with ridges and the golden brown bread to the medium plastic breadbasket oval shape"
+  ],
+  "unseen": [
+    "Use one arm to grab the oval bread and the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the rounded oval bread and the spongy golden brown bread, then place them in the white basket with beige bottom.",
+    "Grab the oval bread and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the oval bread and the spongy golden brown bread into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick the oval bread and the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the square bread with light spots with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the soft bread with golden edges and put them in the breadbasket with hollowed white walls.",
+    "Pick the oval-shaped soft bread and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Use one arm to grab the oval bread and the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the rounded oval bread and the square bread with light spots, then place them in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Place the rounded oval bread and the soft bread with golden edges into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick the oval-shaped soft bread and the spongy golden brown bread and place in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and put them in the white basket with beige bottom.",
+    "Pick the oval bread and the soft bread with golden edges and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rounded oval bread and the spongy golden brown bread, drop in the white basket with beige bottom.",
+    "Grab the oval bread and the spongy golden brown bread and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the oval bread and the soft bread with golden edges into the white basket with beige bottom using the dual arm",
+    "Use the dual arm to pick the oval bread and the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the square bread with light spots with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the square bread with light spots and put them in the breadbasket with hollowed white walls.",
+    "Pick the oval bread and the soft bread with golden edges and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval bread and the square bread with light spots, drop in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the oval bread and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the rounded oval bread and the square bread with light spots into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick the rounded oval bread and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the square bread with light spots with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the oval-shaped soft bread and the soft bread with golden edges and place them in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval bread and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Grab the oval bread and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the rounded oval bread and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Place the oval bread and the spongy golden brown bread into the white basket with beige bottom using the dual arm",
+    "Use the dual arm to pick the oval-shaped soft bread and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the soft bread with golden edges with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the square bread with light spots and put them in the white basket with beige bottom.",
+    "Pick the oval bread and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Use one arm to grab the rounded oval bread and the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the rounded oval bread and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Place the oval-shaped soft bread and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Use the dual arm to pick the rounded oval bread and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the square bread with light spots and put them in the white basket with beige bottom.",
+    "Pick the oval-shaped soft bread and the soft bread with golden edges and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rounded oval bread and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Grab the rounded oval bread and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Grab the rounded oval bread and the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Place the rounded oval bread and the soft bread with golden edges into the white basket with beige bottom using the dual arm",
+    "Use the dual arm to pick the oval-shaped soft bread and the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the square bread with light spots with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges and put them in the white basket with beige bottom.",
+    "Pick the rounded oval bread and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the oval bread and the square bread with light spots, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the oval bread and the spongy golden brown bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Place the oval-shaped soft bread and the soft bread with golden edges into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick the oval bread and the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and the spongy golden brown bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Pick the oval bread and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the oval bread and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the oval bread and the soft bread with golden edges and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the oval bread and the spongy golden brown bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Place the rounded oval bread and the square bread with light spots into the white basket with beige bottom using the dual arm",
+    "Use the dual arm to pick the rounded oval bread and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and the spongy golden brown bread and put them in the white basket with beige bottom.",
+    "Pick the oval bread and the spongy golden brown bread and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the oval bread and the soft bread with golden edges, drop in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the oval bread and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Place the oval-shaped soft bread and the soft bread with golden edges into the breadbasket with hollowed white walls using the dual arm",
+    "Use the dual arm to pick the oval-shaped soft bread and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Pick the oval bread and the soft bread with golden edges and place them in the white basket with beige bottom.",
+    "Use one arm to grab the oval-shaped soft bread and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the oval bread and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the soft bread with golden edges, then place them in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Place the oval bread and the soft bread with golden edges into the white basket with beige bottom using the dual arm",
+    "Use the dual arm to pick the rounded oval bread and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and the soft bread with golden edges with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and the soft bread with golden edges and put them in the breadbasket with hollowed white walls.",
+    "Pick the oval-shaped soft bread and the square bread with light spots and place them in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rounded oval bread and the square bread with light spots, drop in the breadbasket with smooth bottom grid sides."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode47.json b/place_bread_basket/demo_randomized/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6b5add061f2310e50deab288e3915170cdd257f
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bread loaf with uneven edges with one hand and set it in the breadbasket with flat base.",
+    "Pick the bread loaf with bumpy surface and put it into the breadbasket with flat base.",
+    "Grab the bread block with light patches with the right arm and drop it in the breadbasket with spiral lines.",
+    "Lift the bread with rough texture and set it in the breadbasket with spiral lines.",
+    "Put the soft bread into the breadbasket with flat base using an arm.",
+    "Drop the square-shaped bread into the breadbasket with spiral lines",
+    "Use the right arm to grab the light golden brown bread and drop it inside the breadbasket made of woven wood.",
+    "Use the right arm to grab the soft bread for the breadbasket made of woven wood",
+    "Pick up the soft bread and put it in the breadbasket with spiral lines.",
+    "Grab the bread loaf with bumpy surface for the breadbasket shaped like a bowl with the right arm",
+    "Pick the golden bread and move it to the breadbasket shaped like a bowl.",
+    "Grab the cuboid bread with an arm and set in the smooth beige breadbasket.",
+    "Grab the bread with rough texture, drop it into the breadbasket with spiral lines.",
+    "Pick up the bread with rough texture and drop it in the breadbasket made of woven wood.",
+    "Lift the soft bread and transfer to the palm-sized breadbasket.",
+    "Put the golden bread loaf into the breadbasket for dough after grabbing it.",
+    "Move the square-shaped bread to the wooden breadbasket using one arm.",
+    "Grab the golden bread loaf with one hand and set it in the breadbasket with flat base.",
+    "Pick the light golden brown bread and put it into the spiral ridged breadbasket.",
+    "Grab the bread loaf with bumpy surface with the right arm and drop it in the breadbasket shaped like a bowl.",
+    "Lift the golden bread loaf and set it in the wooden breadbasket.",
+    "Put the golden bread loaf into the breadbasket made of woven wood using an arm.",
+    "Drop the golden bread loaf into the breadbasket shaped like a bowl",
+    "Use the right arm to grab the doughy and soft bread and drop it inside the palm-sized breadbasket.",
+    "Use the right arm to grab the doughy and soft bread for the palm-sized breadbasket",
+    "Pick up the light golden brown bread and put it in the breadbasket made of woven wood.",
+    "Grab the hand-sized bread block for the breadbasket for dough with the right arm",
+    "Pick the soft bread and move it to the breadbasket made of woven wood.",
+    "Grab the hand-sized bread block with an arm and set in the breadbasket shaped like a bowl.",
+    "Grab the light golden brown bread, drop it into the breadbasket shaped like a bowl.",
+    "Pick up the light golden brown bread and drop it in the breadbasket with flat base.",
+    "Lift the golden bread loaf and transfer to the wooden breadbasket.",
+    "Put the bread block with light patches into the breadbasket with flat base after grabbing it.",
+    "Move the bread loaf with uneven edges to the palm-sized breadbasket using one arm.",
+    "Grab the cuboid bread with one hand and set it in the breadbasket with flat base.",
+    "Pick the soft bread and put it into the breadbasket for dough.",
+    "Grab the light golden brown bread with the right arm and drop it in the wooden breadbasket.",
+    "Lift the golden bread and set it in the breadbasket with flat base.",
+    "Put the soft bread into the round breadbasket using an arm.",
+    "Drop the bread block with light patches into the breadbasket for dough",
+    "Use the right arm to grab the doughy and soft bread and drop it inside the breadbasket made of woven wood.",
+    "Use the right arm to grab the square-shaped bread for the medium breadbasket",
+    "Pick up the golden bread and put it in the smooth beige breadbasket.",
+    "Grab the bread with rough texture for the medium breadbasket with the right arm",
+    "Pick the bread loaf with bumpy surface and move it to the spiral ridged breadbasket.",
+    "Grab the golden bread loaf with an arm and set in the palm-sized breadbasket.",
+    "Grab the cuboid bread, drop it into the breadbasket for dough.",
+    "Pick up the bread block with light patches and drop it in the spiral ridged breadbasket.",
+    "Lift the light golden brown bread and transfer to the breadbasket made of woven wood.",
+    "Put the golden bread loaf into the wooden breadbasket after grabbing it.",
+    "Move the light golden brown bread to the breadbasket for baking using one arm.",
+    "Grab the golden bread with one hand and set it in the medium breadbasket.",
+    "Pick the hand-sized bread block and put it into the breadbasket for dough.",
+    "Grab the golden bread with the right arm and drop it in the breadbasket for baking.",
+    "Lift the golden bread loaf and set it in the spiral ridged breadbasket.",
+    "Put the bread with rough texture into the round breadbasket using an arm.",
+    "Drop the light golden brown bread into the breadbasket with spiral lines",
+    "Use the right arm to grab the hand-sized bread block and drop it inside the wooden breadbasket.",
+    "Use the right arm to grab the hand-sized bread block for the wooden breadbasket",
+    "Pick up the cuboid bread and put it in the breadbasket with spiral lines.",
+    "Grab the light golden brown bread for the wooden breadbasket with the right arm",
+    "Pick the bread with rough texture and move it to the breadbasket for baking.",
+    "Grab the hand-sized bread block with an arm and set in the breadbasket with flat base.",
+    "Grab the square-shaped bread, drop it into the breadbasket with spiral lines.",
+    "Pick up the soft bread and drop it in the breadbasket with flat base.",
+    "Lift the golden bread and transfer to the medium breadbasket.",
+    "Put the bread loaf with bumpy surface into the breadbasket shaped like a bowl after grabbing it.",
+    "Move the bread loaf with uneven edges to the spiral ridged breadbasket using one arm.",
+    "Grab the doughy and soft bread with one hand and set it in the breadbasket made of woven wood.",
+    "Pick the cuboid bread and put it into the smooth beige breadbasket.",
+    "Grab the bread loaf with bumpy surface with the right arm and drop it in the breadbasket for baking.",
+    "Lift the golden bread loaf and set it in the breadbasket with spiral lines.",
+    "Put the bread with rough texture into the breadbasket made of woven wood using an arm.",
+    "Drop the bread loaf with uneven edges into the breadbasket for dough",
+    "Use the right arm to grab the hand-sized bread block and drop it inside the medium breadbasket.",
+    "Use the right arm to grab the bread loaf with uneven edges for the breadbasket with flat base",
+    "Pick up the square-shaped bread and put it in the breadbasket shaped like a bowl.",
+    "Grab the golden bread loaf for the smooth beige breadbasket with the right arm",
+    "Pick the light golden brown bread and move it to the breadbasket made of woven wood.",
+    "Grab the hand-sized bread block with an arm and set in the breadbasket for baking.",
+    "Grab the doughy and soft bread, drop it into the breadbasket for dough.",
+    "Pick up the bread with rough texture and drop it in the breadbasket with spiral lines.",
+    "Lift the square-shaped bread and transfer to the breadbasket shaped like a bowl.",
+    "Put the bread block with light patches into the breadbasket with spiral lines after grabbing it.",
+    "Move the bread loaf with bumpy surface to the spiral ridged breadbasket using one arm.",
+    "Grab the bread loaf with uneven edges with one hand and set it in the breadbasket shaped like a bowl.",
+    "Pick the bread loaf with uneven edges and put it into the breadbasket with flat base.",
+    "Grab the golden bread loaf with the right arm and drop it in the breadbasket for dough.",
+    "Lift the hand-sized bread block and set it in the round breadbasket.",
+    "Put the bread loaf with uneven edges into the breadbasket shaped like a bowl using an arm.",
+    "Drop the square-shaped bread into the breadbasket shaped like a bowl",
+    "Use the right arm to grab the cuboid bread and drop it inside the breadbasket with flat base.",
+    "Use the right arm to grab the soft bread for the breadbasket for dough",
+    "Pick up the square-shaped bread and put it in the breadbasket with spiral lines.",
+    "Grab the bread loaf with bumpy surface for the breadbasket made of woven wood with the right arm",
+    "Pick the golden bread and move it to the breadbasket with flat base.",
+    "Grab the bread loaf with bumpy surface with an arm and set in the round breadbasket.",
+    "Grab the bread loaf with uneven edges, drop it into the round breadbasket.",
+    "Pick up the soft bread and drop it in the smooth beige breadbasket.",
+    "Lift the hand-sized bread block and transfer to the smooth beige breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread loaf with soft surface with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the round beige breadbasket.",
+    "Place the bread with golden crust into the round beige breadbasket using the right arm",
+    "Use the right arm to pick up the bread with golden crust, then place it in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust, drop in the light wooden breadbasket.",
+    "Pick the rectangular bread loaf and place it in the round beige breadbasket.",
+    "Grab the rectangular bread loaf and put it in the light wooden breadbasket.",
+    "Grab the bread with golden crust and drop it into the round beige breadbasket.",
+    "Pick the bread with golden crust and drop it in the light wooden breadbasket",
+    "Grab the bread with golden crust and drop it into the round beige breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the light wooden breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the light wooden breadbasket.",
+    "Place the bread with golden crust into the round beige breadbasket using the right arm",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the light wooden breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the light wooden breadbasket.",
+    "Pick the bread with golden crust and place it in the beige breadbasket.",
+    "Grab the rectangular bread loaf and put it in the round beige breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the round beige breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the light wooden breadbasket",
+    "Grab the rectangular bread loaf and drop it into the light wooden breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the beige breadbasket.",
+    "Place the bread with golden crust into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick up the bread with golden crust, then place it in the round beige breadbasket.",
+    "Use one arm to grab the bread with golden crust, drop in the light wooden breadbasket.",
+    "Pick the rectangular bread loaf and place it in the round beige breadbasket.",
+    "Grab the rectangular bread loaf and put it in the round beige breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Pick the rectangular bread loaf and drop it in the beige breadbasket",
+    "Grab the bread loaf with soft surface and drop it into the light wooden breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the round beige breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the round beige breadbasket.",
+    "Place the bread with golden crust into the round beige breadbasket using the right arm",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the light wooden breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the beige breadbasket.",
+    "Pick the rectangular bread loaf and place it in the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and put it in the beige breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the beige breadbasket",
+    "Grab the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the round beige breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the light wooden breadbasket.",
+    "Place the bread loaf with soft surface into the round beige breadbasket using the right arm",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the round beige breadbasket.",
+    "Pick the bread with golden crust and place it in the beige breadbasket.",
+    "Grab the bread with golden crust and put it in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Pick the rectangular bread loaf and drop it in the beige breadbasket",
+    "Grab the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the round beige breadbasket.",
+    "Place the rectangular bread loaf into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Pick the bread with golden crust and place it in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and put it in the light wooden breadbasket.",
+    "Grab the bread with golden crust and drop it into the round beige breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the light wooden breadbasket",
+    "Grab the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the round beige breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the round beige breadbasket.",
+    "Place the bread with golden crust into the round beige breadbasket using the right arm",
+    "Use the right arm to pick up the bread with golden crust, then place it in the light wooden breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the light wooden breadbasket.",
+    "Pick the rectangular bread loaf and place it in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and put it in the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Pick the bread with golden crust and drop it in the light wooden breadbasket",
+    "Grab the bread loaf with soft surface and drop it into the round beige breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the light wooden breadbasket.",
+    "Place the bread loaf with soft surface into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the round beige breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the light wooden breadbasket.",
+    "Pick the bread with golden crust and place it in the beige breadbasket.",
+    "Grab the bread with golden crust and put it in the round beige breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the light wooden breadbasket.",
+    "Pick the bread with golden crust and drop it in the light wooden breadbasket",
+    "Grab the bread with golden crust and drop it into the beige breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the round beige breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the beige breadbasket.",
+    "Place the rectangular bread loaf into the round beige breadbasket using the right arm",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the round beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the light wooden breadbasket.",
+    "Pick the bread loaf with soft surface and place it in the beige breadbasket.",
+    "Grab the rectangular bread loaf and put it in the light wooden breadbasket.",
+    "Grab the bread with golden crust and drop it into the round beige breadbasket.",
+    "Pick the bread with golden crust and drop it in the beige breadbasket",
+    "Grab the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the round beige breadbasket.",
+    "Place the bread with golden crust into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the light wooden breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the light wooden breadbasket.",
+    "Pick the rectangular bread loaf and place it in the round beige breadbasket.",
+    "Grab the bread with golden crust and put it in the light wooden breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Pick the bread with golden crust and drop it in the light wooden breadbasket",
+    "Grab the rectangular bread loaf and drop it into the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode48.json b/place_bread_basket/demo_randomized/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb273e8c021ea042e61f64b39a75a0484226496b
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the golden bread loaf into the medium plastic breadbasket oval shape using an arm.",
+    "Grab the light golden brown bread for the beige basket with white grid design with the right arm",
+    "Pick the light golden brown bread and move it to the medium plastic breadbasket oval shape.",
+    "Grab the bread with rough texture with an arm and set in the beige basket with white grid design.",
+    "Move the square-shaped bread to the beige basket with white grid design using one arm.",
+    "Pick the bread with rough texture and put it into the beige basket with white grid design.",
+    "Grab the cuboid bread, drop it into the basket for bread beige plastic.",
+    "Lift the bread loaf with uneven edges and set it in the oval-shaped breadbasket.",
+    "Lift the light golden brown bread and transfer to the beige plastic breadbasket.",
+    "Use the right arm to grab the bread block with light patches for the smooth textured breadbasket",
+    "Grab the bread loaf with bumpy surface with the right arm and drop it in the oval perforated breadbasket white edges.",
+    "Pick up the square-shaped bread and drop it in the basket for bread beige plastic.",
+    "Pick up the doughy and soft bread and put it in the oval perforated breadbasket white edges.",
+    "Use the right arm to grab the bread loaf with bumpy surface and drop it inside the beige plastic breadbasket.",
+    "Grab the bread loaf with bumpy surface with one hand and set it in the basket for carrying bread beige.",
+    "Drop the square-shaped bread into the medium oval basket for bread",
+    "Put the square-shaped bread into the smooth textured breadbasket after grabbing it.",
+    "Put the light golden brown bread into the white oval breadbasket using an arm.",
+    "Grab the golden bread for the white oval breadbasket with the right arm",
+    "Pick the bread block with light patches and move it to the oval-shaped breadbasket.",
+    "Grab the bread block with light patches with an arm and set in the beige breadbasket.",
+    "Move the bread loaf with bumpy surface to the beige plastic breadbasket using one arm.",
+    "Pick the soft bread and put it into the basket for bread beige plastic.",
+    "Grab the bread loaf with bumpy surface, drop it into the beige basket with white grid design.",
+    "Lift the cuboid bread and set it in the basket for carrying bread beige.",
+    "Lift the soft bread and transfer to the medium plastic breadbasket oval shape.",
+    "Use the right arm to grab the soft bread for the oval perforated breadbasket white edges",
+    "Grab the doughy and soft bread with the right arm and drop it in the oval-shaped breadbasket.",
+    "Pick up the golden bread loaf and drop it in the medium breadbasket with perforated sides.",
+    "Pick up the square-shaped bread and put it in the oval-shaped breadbasket.",
+    "Use the right arm to grab the soft bread and drop it inside the oval-shaped breadbasket.",
+    "Grab the soft bread with one hand and set it in the beige basket with white grid design.",
+    "Drop the bread loaf with bumpy surface into the beige breadbasket",
+    "Put the bread loaf with bumpy surface into the smooth textured breadbasket after grabbing it.",
+    "Put the golden bread into the basket for bread beige plastic using an arm.",
+    "Grab the bread loaf with uneven edges for the smooth textured breadbasket with the right arm",
+    "Pick the bread block with light patches and move it to the smooth textured breadbasket.",
+    "Grab the square-shaped bread with an arm and set in the beige basket with white grid design.",
+    "Move the golden bread to the beige basket with white grid design using one arm.",
+    "Pick the golden bread loaf and put it into the oval perforated breadbasket white edges.",
+    "Grab the bread loaf with bumpy surface, drop it into the basket for bread beige plastic.",
+    "Lift the bread with rough texture and set it in the medium breadbasket with perforated sides.",
+    "Lift the bread block with light patches and transfer to the white oval breadbasket.",
+    "Use the right arm to grab the golden bread loaf for the smooth textured breadbasket",
+    "Grab the doughy and soft bread with the right arm and drop it in the basket for bread beige plastic.",
+    "Pick up the golden bread loaf and drop it in the basket for bread beige plastic.",
+    "Pick up the bread loaf with uneven edges and put it in the basket for carrying bread beige.",
+    "Use the right arm to grab the square-shaped bread and drop it inside the basket for carrying bread beige.",
+    "Grab the cuboid bread with one hand and set it in the beige plastic breadbasket.",
+    "Drop the golden bread into the oval-shaped breadbasket",
+    "Put the bread with rough texture into the white oval breadbasket after grabbing it.",
+    "Put the soft bread into the medium oval basket for bread using an arm.",
+    "Grab the square-shaped bread for the basket for bread beige plastic with the right arm",
+    "Pick the cuboid bread and move it to the basket for carrying bread beige.",
+    "Grab the light golden brown bread with an arm and set in the medium plastic breadbasket oval shape.",
+    "Move the square-shaped bread to the oval perforated breadbasket white edges using one arm.",
+    "Pick the bread with rough texture and put it into the oval perforated breadbasket white edges.",
+    "Grab the square-shaped bread, drop it into the oval perforated breadbasket white edges.",
+    "Lift the cuboid bread and set it in the basket for bread beige plastic.",
+    "Lift the soft bread and transfer to the beige breadbasket.",
+    "Use the right arm to grab the cuboid bread for the basket for bread beige plastic",
+    "Grab the bread block with light patches with the right arm and drop it in the basket for bread beige plastic.",
+    "Pick up the bread loaf with uneven edges and drop it in the beige breadbasket.",
+    "Pick up the bread block with light patches and put it in the oval-shaped breadbasket.",
+    "Use the right arm to grab the doughy and soft bread and drop it inside the medium breadbasket with perforated sides.",
+    "Grab the golden bread loaf with one hand and set it in the basket for carrying bread beige.",
+    "Drop the bread with rough texture into the medium plastic breadbasket oval shape",
+    "Put the soft bread into the basket for carrying bread beige after grabbing it.",
+    "Put the golden bread into the beige plastic breadbasket using an arm.",
+    "Grab the soft bread for the oval-shaped breadbasket with the right arm",
+    "Pick the cuboid bread and move it to the basket for carrying bread beige.",
+    "Grab the golden bread with an arm and set in the basket for carrying bread beige.",
+    "Move the bread with rough texture to the basket for bread beige plastic using one arm.",
+    "Pick the square-shaped bread and put it into the beige basket with white grid design.",
+    "Grab the bread loaf with bumpy surface, drop it into the basket for bread beige plastic.",
+    "Lift the doughy and soft bread and set it in the oval perforated breadbasket white edges.",
+    "Lift the square-shaped bread and transfer to the beige plastic breadbasket.",
+    "Use the right arm to grab the bread with rough texture for the oval perforated breadbasket white edges",
+    "Grab the light golden brown bread with the right arm and drop it in the white oval breadbasket.",
+    "Pick up the bread loaf with bumpy surface and drop it in the medium breadbasket with perforated sides.",
+    "Pick up the bread with rough texture and put it in the medium oval basket for bread.",
+    "Use the right arm to grab the doughy and soft bread and drop it inside the white oval breadbasket.",
+    "Grab the light golden brown bread with one hand and set it in the oval-shaped breadbasket.",
+    "Drop the cuboid bread into the white oval breadbasket",
+    "Put the light golden brown bread into the medium oval basket for bread after grabbing it.",
+    "Put the square-shaped bread into the basket for bread beige plastic using an arm.",
+    "Grab the golden bread for the basket for bread beige plastic with the right arm",
+    "Pick the square-shaped bread and move it to the oval perforated breadbasket white edges.",
+    "Grab the cuboid bread with an arm and set in the oval-shaped breadbasket.",
+    "Move the bread loaf with uneven edges to the basket for carrying bread beige using one arm.",
+    "Pick the cuboid bread and put it into the medium oval basket for bread.",
+    "Grab the square-shaped bread, drop it into the beige plastic breadbasket.",
+    "Lift the square-shaped bread and set it in the white oval breadbasket.",
+    "Lift the soft bread and transfer to the beige breadbasket.",
+    "Use the right arm to grab the bread with rough texture for the basket for bread beige plastic",
+    "Grab the doughy and soft bread with the right arm and drop it in the smooth textured breadbasket.",
+    "Pick up the square-shaped bread and drop it in the smooth textured breadbasket.",
+    "Pick up the bread with rough texture and put it in the medium breadbasket with perforated sides.",
+    "Use the right arm to grab the bread block with light patches and drop it inside the medium plastic breadbasket oval shape.",
+    "Grab the golden bread loaf with one hand and set it in the beige plastic breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread loaf with soft surface with one arm, place in the white basket with beige bottom.",
+    "Place the bread with golden crust into the breadbasket with hollowed white walls using the right arm",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and drop it in the white basket with beige bottom",
+    "Pick the rectangular bread loaf and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and put it in the white basket with beige bottom.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the rectangular bread loaf and place in the white basket with beige bottom.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with hollowed white walls.",
+    "Place the bread loaf with soft surface into the breadbasket with smooth bottom grid sides using the right arm",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with smooth bottom grid sides.",
+    "Pick the bread with golden crust and drop it in the breadbasket with smooth bottom grid sides",
+    "Pick the bread with golden crust and place it in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and put it in the white basket with beige bottom.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Place the bread with golden crust into the breadbasket with hollowed white walls using the right arm",
+    "Use one arm to grab the bread loaf with soft surface, drop in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with hollowed white walls",
+    "Pick the rectangular bread loaf and place it in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and put it in the white basket with beige bottom.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the rectangular bread loaf and place in the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with hollowed white walls.",
+    "Place the bread with golden crust into the breadbasket with smooth bottom grid sides using the right arm",
+    "Use one arm to grab the bread with golden crust, drop in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with hollowed white walls",
+    "Pick the bread loaf with soft surface and place it in the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and put it in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and drop it into the white basket with beige bottom.",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Place the rectangular bread loaf into the breadbasket with smooth bottom grid sides using the right arm",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with hollowed white walls.",
+    "Pick the bread loaf with soft surface and drop it in the breadbasket with hollowed white walls",
+    "Pick the bread loaf with soft surface and place it in the white basket with beige bottom.",
+    "Grab the bread with golden crust and put it in the white basket with beige bottom.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Place the bread loaf with soft surface into the breadbasket with hollowed white walls using the right arm",
+    "Use one arm to grab the rectangular bread loaf, drop in the white basket with beige bottom.",
+    "Pick the rectangular bread loaf and drop it in the white basket with beige bottom",
+    "Pick the rectangular bread loaf and place it in the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and put it in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the white basket with beige bottom.",
+    "Use the right arm to pick the bread with golden crust and place in the white basket with beige bottom.",
+    "Grab the bread with golden crust and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Place the rectangular bread loaf into the breadbasket with smooth bottom grid sides using the right arm",
+    "Use one arm to grab the bread loaf with soft surface, drop in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with smooth bottom grid sides",
+    "Pick the bread loaf with soft surface and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf and put it in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and drop it into the white basket with beige bottom.",
+    "Grab the rectangular bread loaf and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Place the bread loaf with soft surface into the white basket with beige bottom using the right arm",
+    "Use one arm to grab the bread with golden crust, drop in the white basket with beige bottom.",
+    "Pick the bread with golden crust and drop it in the breadbasket with hollowed white walls",
+    "Pick the bread loaf with soft surface and place it in the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and put it in the white basket with beige bottom.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the white basket with beige bottom.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread with golden crust and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and drop it into the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Place the bread with golden crust into the white basket with beige bottom using the right arm",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with hollowed white walls.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with hollowed white walls",
+    "Pick the bread with golden crust and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the bread with golden crust and place in the white basket with beige bottom.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with hollowed white walls.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the rectangular bread loaf with one arm, place in the breadbasket with hollowed white walls.",
+    "Place the rectangular bread loaf into the white basket with beige bottom using the right arm",
+    "Use one arm to grab the bread loaf with soft surface, drop in the white basket with beige bottom.",
+    "Pick the bread with golden crust and drop it in the white basket with beige bottom",
+    "Pick the bread with golden crust and place it in the breadbasket with hollowed white walls.",
+    "Grab the bread with golden crust and put it in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the rectangular bread loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with hollowed white walls.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with hollowed white walls."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode49.json b/place_bread_basket/demo_randomized/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb997e35ca6f4182d620b853b268016321366373
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the medium-sized bread piece and drop it inside the breadbasket for bread storage.",
+    "Grab the medium bread with rounded sides for the light beige rectangular breadbasket with the right arm",
+    "Put the golden brown bread into the plastic breadbasket with mesh sides using an arm.",
+    "Pick the bread with soft texture and move it to the textured beige breadbasket.",
+    "Pick up the square-shaped bread piece and drop it in the beige breadbasket for holding bread.",
+    "Lift the bread with soft texture and transfer to the beige breadbasket.",
+    "Lift the light brown porous bread and set it in the plastic mesh breadbasket.",
+    "Grab the sponge-textured golden bread with the right arm and drop it in the light beige rectangular breadbasket.",
+    "Grab the golden baked bread, drop it into the textured beige breadbasket.",
+    "Use the right arm to grab the sponge-textured golden bread for the plastic breadbasket with mesh sides",
+    "Pick up the golden brown bread and put it in the beige breadbasket.",
+    "Grab the bread with rounded edges with one hand and set it in the textured beige breadbasket.",
+    "Put the sponge-textured golden bread into the textured beige breadbasket after grabbing it.",
+    "Grab the bread with soft texture with an arm and set in the beige breadbasket for holding bread.",
+    "Drop the medium bread with rounded sides into the light beige rectangular breadbasket",
+    "Pick the fluffy baked bread and put it into the beige breadbasket for holding bread.",
+    "Move the fluffy baked bread to the plastic breadbasket with mesh sides using one arm.",
+    "Use the right arm to grab the golden brown bread and drop it inside the light beige rectangular breadbasket.",
+    "Grab the golden brown bread for the plastic mesh breadbasket with the right arm",
+    "Put the fluffy baked bread into the plastic mesh breadbasket using an arm.",
+    "Pick the light brown porous bread and move it to the rectangular breadbasket.",
+    "Pick up the bread with rounded edges and drop it in the beige breadbasket for holding bread.",
+    "Lift the sponge-textured golden bread and transfer to the plastic mesh breadbasket.",
+    "Lift the fluffy baked bread and set it in the breadbasket with textured sides.",
+    "Grab the square-shaped bread piece with the right arm and drop it in the rectangular breadbasket.",
+    "Grab the medium-sized bread piece, drop it into the plastic mesh breadbasket.",
+    "Use the right arm to grab the medium-sized bread piece for the plastic breadbasket with mesh sides",
+    "Pick up the golden baked bread and put it in the textured beige breadbasket.",
+    "Grab the golden brown bread with one hand and set it in the breadbasket with textured sides.",
+    "Put the rounded square loaf into the breadbasket for bread storage after grabbing it.",
+    "Grab the light brown porous bread with an arm and set in the plastic mesh breadbasket.",
+    "Drop the medium bread with rounded sides into the beige breadbasket for holding bread",
+    "Pick the light brown porous bread and put it into the light and textured breadbasket.",
+    "Move the golden baked bread to the beige breadbasket using one arm.",
+    "Use the right arm to grab the soft square bread and drop it inside the plastic breadbasket with mesh sides.",
+    "Grab the bread with soft texture for the light and textured breadbasket with the right arm",
+    "Put the rounded square loaf into the breadbasket for bread storage using an arm.",
+    "Pick the medium-sized bread piece and move it to the plastic mesh breadbasket.",
+    "Pick up the fluffy baked bread and drop it in the textured beige breadbasket.",
+    "Lift the medium-sized bread piece and transfer to the medium rectangular breadbasket.",
+    "Lift the medium-sized bread piece and set it in the rectangular breadbasket.",
+    "Grab the golden brown bread with the right arm and drop it in the beige breadbasket.",
+    "Grab the fluffy baked bread, drop it into the woven light beige breadbasket.",
+    "Use the right arm to grab the square-shaped bread piece for the textured beige breadbasket",
+    "Pick up the medium-sized bread piece and put it in the medium rectangular breadbasket.",
+    "Grab the sponge-textured golden bread with one hand and set it in the textured beige breadbasket.",
+    "Put the fluffy baked bread into the beige breadbasket after grabbing it.",
+    "Grab the soft square bread with an arm and set in the woven light beige breadbasket.",
+    "Drop the rounded square loaf into the rectangular breadbasket",
+    "Pick the medium bread with rounded sides and put it into the medium rectangular breadbasket.",
+    "Move the golden brown bread to the light and textured breadbasket using one arm.",
+    "Use the right arm to grab the sponge-textured golden bread and drop it inside the breadbasket with textured sides.",
+    "Grab the golden baked bread for the light and textured breadbasket with the right arm",
+    "Put the medium-sized bread piece into the light beige rectangular breadbasket using an arm.",
+    "Pick the sponge-textured golden bread and move it to the light beige rectangular breadbasket.",
+    "Pick up the bread with rounded edges and drop it in the beige breadbasket for holding bread.",
+    "Lift the golden baked bread and transfer to the breadbasket with textured sides.",
+    "Lift the sponge-textured golden bread and set it in the textured beige breadbasket.",
+    "Grab the bread with soft texture with the right arm and drop it in the woven light beige breadbasket.",
+    "Grab the fluffy baked bread, drop it into the medium rectangular breadbasket.",
+    "Use the right arm to grab the bread with rounded edges for the beige breadbasket",
+    "Pick up the rounded square loaf and put it in the breadbasket with textured sides.",
+    "Grab the medium-sized bread piece with one hand and set it in the beige breadbasket.",
+    "Put the bread with rounded edges into the textured beige breadbasket after grabbing it.",
+    "Grab the medium bread with rounded sides with an arm and set in the textured beige breadbasket.",
+    "Drop the bread with rounded edges into the beige breadbasket for holding bread",
+    "Pick the rounded square loaf and put it into the beige breadbasket for holding bread.",
+    "Move the golden baked bread to the beige breadbasket using one arm.",
+    "Use the right arm to grab the golden baked bread and drop it inside the breadbasket for bread storage.",
+    "Grab the medium bread with rounded sides for the textured beige breadbasket with the right arm",
+    "Put the medium bread with rounded sides into the light and textured breadbasket using an arm.",
+    "Pick the sponge-textured golden bread and move it to the textured beige breadbasket.",
+    "Pick up the fluffy baked bread and drop it in the light and textured breadbasket.",
+    "Lift the medium bread with rounded sides and transfer to the beige breadbasket for holding bread.",
+    "Lift the bread with soft texture and set it in the light beige rectangular breadbasket.",
+    "Grab the soft square bread with the right arm and drop it in the beige breadbasket.",
+    "Grab the bread with soft texture, drop it into the breadbasket for bread storage.",
+    "Use the right arm to grab the medium bread with rounded sides for the beige breadbasket",
+    "Pick up the golden brown bread and put it in the light and textured breadbasket.",
+    "Grab the golden baked bread with one hand and set it in the textured beige breadbasket.",
+    "Put the bread with rounded edges into the woven light beige breadbasket after grabbing it.",
+    "Grab the light brown porous bread with an arm and set in the beige breadbasket for holding bread.",
+    "Drop the golden baked bread into the light beige rectangular breadbasket",
+    "Pick the square-shaped bread piece and put it into the breadbasket with textured sides.",
+    "Move the light brown porous bread to the light and textured breadbasket using one arm.",
+    "Use the right arm to grab the sponge-textured golden bread and drop it inside the light and textured breadbasket.",
+    "Grab the medium bread with rounded sides for the plastic breadbasket with mesh sides with the right arm",
+    "Put the bread with soft texture into the beige breadbasket for holding bread using an arm.",
+    "Pick the medium-sized bread piece and move it to the breadbasket for bread storage.",
+    "Pick up the golden baked bread and drop it in the plastic mesh breadbasket.",
+    "Lift the square-shaped bread piece and transfer to the woven light beige breadbasket.",
+    "Lift the bread with rounded edges and set it in the medium rectangular breadbasket.",
+    "Grab the sponge-textured golden bread with the right arm and drop it in the woven light beige breadbasket.",
+    "Grab the fluffy baked bread, drop it into the breadbasket for bread storage.",
+    "Use the right arm to grab the golden baked bread for the light and textured breadbasket",
+    "Pick up the medium bread with rounded sides and put it in the plastic mesh breadbasket.",
+    "Grab the sponge-textured golden bread with one hand and set it in the light beige rectangular breadbasket.",
+    "Put the soft square bread into the beige breadbasket for holding bread after grabbing it.",
+    "Grab the rounded square loaf with an arm and set in the beige breadbasket for holding bread.",
+    "Drop the light brown porous bread into the beige breadbasket for holding bread"
+  ],
+  "unseen": [
+    "Grab the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Place the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the soft bread with golden edges and place it in the woven shallow breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and put it in the woven shallow breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the shallow rectangular breadbasket.",
+    "Pick the square bread with light spots and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick the soft bread with golden edges and place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with woven pattern.",
+    "Place the spongy golden brown bread into the breadbasket with woven pattern using the right arm",
+    "Pick the spongy golden brown bread and place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with woven pattern.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Pick the square bread with light spots and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots with one arm, place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Place the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the soft bread with golden edges and place it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and put it in the breadbasket with woven pattern.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Pick the square bread with light spots and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges with one arm, place in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the shallow rectangular breadbasket.",
+    "Place the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the soft bread with golden edges and place it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and put it in the breadbasket with woven pattern.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Place the spongy golden brown bread into the woven shallow breadbasket using the right arm",
+    "Pick the soft bread with golden edges and place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and put it in the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with woven pattern",
+    "Use the right arm to pick the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with woven pattern.",
+    "Place the soft bread with golden edges into the shallow rectangular breadbasket using the right arm",
+    "Pick the square bread with light spots and place it in the woven shallow breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the woven shallow breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges into the shallow rectangular breadbasket using the right arm",
+    "Pick the spongy golden brown bread and place it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and put it in the woven shallow breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the woven shallow breadbasket",
+    "Use the right arm to pick the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Place the soft bread with golden edges into the woven shallow breadbasket using the right arm",
+    "Pick the soft bread with golden edges and place it in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and put it in the woven shallow breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the woven shallow breadbasket.",
+    "Grab the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick the soft bread with golden edges and place in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and drop it into the woven shallow breadbasket.",
+    "Place the spongy golden brown bread into the shallow rectangular breadbasket using the right arm",
+    "Pick the spongy golden brown bread and place it in the woven shallow breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and put it in the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and drop it in the shallow rectangular breadbasket",
+    "Use the right arm to pick the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Place the square bread with light spots into the woven shallow breadbasket using the right arm",
+    "Pick the soft bread with golden edges and place it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and put it in the woven shallow breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Pick the square bread with light spots and drop it in the breadbasket with woven pattern",
+    "Use the right arm to pick the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with woven pattern."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode5.json b/place_bread_basket/demo_randomized/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..75c8fd1db61830afa88c25b9369b9217122b0a8d
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the bread loaf with uneven edges and the rounded square loaf to the plastic mesh breadbasket",
+    "Put the bread loaf with bumpy surface and the golden brown bread into the plastic mesh breadbasket using two arms.",
+    "Simultaneously grab the soft bread and the sponge-textured golden bread, drop in the medium rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the golden bread and the square-shaped bread piece in the plastic breadbasket with mesh sides.",
+    "Shift the bread block with light patches and the soft square bread together to the medium rectangular breadbasket.",
+    "Take the bread loaf with bumpy surface and the golden brown bread then place in the breadbasket for bread storage.",
+    "Grab the square-shaped bread and the medium bread with rounded sides quickly and drop them into the plastic breadbasket with mesh sides.",
+    "Simultaneously grab the cuboid bread and the bread with soft texture using the dual arm, then drop them in the woven light beige breadbasket.",
+    "Take the bread loaf with bumpy surface and the fluffy baked bread together and place them into the breadbasket with textured sides.",
+    "Take the golden bread and the fluffy baked bread to the woven light beige breadbasket",
+    "Grab both the golden bread loaf and the golden brown bread, drop into the light and textured breadbasket.",
+    "Lift the bread loaf with bumpy surface and the medium bread with rounded sides with two arms, put in the plastic mesh breadbasket.",
+    "Pick up both the hand-sized bread block and the golden brown bread, then place them in the plastic mesh breadbasket.",
+    "Lift the bread loaf with bumpy surface and the medium bread with rounded sides at once with the dual arm, then set them in the beige breadbasket for holding bread.",
+    "Pick the hand-sized bread block and the soft square bread and set them in the plastic breadbasket with mesh sides.",
+    "Take the hand-sized bread block and the light brown porous bread, place them inside the woven light beige breadbasket.",
+    "Grab both the doughy and soft bread and the golden baked bread with the dual arm and place in the rectangular breadbasket.",
+    "Shift the light golden brown bread and the square-shaped bread piece into the breadbasket for bread storage",
+    "Use the dual arm to place the soft bread and the sponge-textured golden bread into the plastic breadbasket with mesh sides.",
+    "Move the golden bread loaf and the sponge-textured golden bread at once into the beige breadbasket for holding bread.",
+    "Pick the hand-sized bread block and the light brown porous bread, place them in the woven light beige breadbasket.",
+    "Use two arms and set the golden bread loaf, the fluffy baked bread in the medium rectangular breadbasket.",
+    "Pick the bread loaf with bumpy surface and the golden brown bread for the the medium rectangular breadbasket",
+    "Use both arms to move the cuboid bread, the soft square bread to the plastic breadbasket with mesh sides.",
+    "Place the light golden brown bread and the medium bread with rounded sides in the plastic mesh breadbasket using the dual arm",
+    "Grab two breads the cuboid bread and the golden brown bread and place in the woven light beige breadbasket.",
+    "Move the cuboid bread and the light brown porous bread to the light and textured breadbasket",
+    "Put the golden bread and the light brown porous bread into the rectangular breadbasket using two arms.",
+    "Simultaneously grab the soft bread and the medium-sized bread piece, drop in the medium rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the square-shaped bread and the fluffy baked bread in the light beige rectangular breadbasket.",
+    "Shift the golden bread loaf and the sponge-textured golden bread together to the plastic mesh breadbasket.",
+    "Take the bread loaf with uneven edges and the fluffy baked bread then place in the plastic mesh breadbasket.",
+    "Grab the doughy and soft bread and the bread with soft texture quickly and drop them into the breadbasket for bread storage.",
+    "Simultaneously grab the golden bread and the medium-sized bread piece using the dual arm, then drop them in the light beige rectangular breadbasket.",
+    "Take the hand-sized bread block and the bread with rounded edges together and place them into the textured beige breadbasket.",
+    "Take the light golden brown bread and the rounded square loaf to the breadbasket with textured sides",
+    "Grab both the bread loaf with bumpy surface and the fluffy baked bread, drop into the plastic breadbasket with mesh sides.",
+    "Lift the golden bread loaf and the bread with rounded edges with two arms, put in the light beige rectangular breadbasket.",
+    "Pick up both the bread loaf with bumpy surface and the bread with rounded edges, then place them in the light beige rectangular breadbasket.",
+    "Lift the bread loaf with bumpy surface and the golden brown bread at once with the dual arm, then set them in the textured beige breadbasket.",
+    "Pick the golden bread loaf and the square-shaped bread piece and set them in the beige breadbasket for holding bread.",
+    "Take the soft bread and the bread with rounded edges, place them inside the textured beige breadbasket.",
+    "Grab both the bread loaf with uneven edges and the golden brown bread with the dual arm and place in the textured beige breadbasket.",
+    "Shift the bread loaf with bumpy surface and the rounded square loaf into the breadbasket for bread storage",
+    "Use the dual arm to place the bread with rough texture and the light brown porous bread into the woven light beige breadbasket.",
+    "Move the light golden brown bread and the golden baked bread at once into the medium rectangular breadbasket.",
+    "Pick the bread block with light patches and the light brown porous bread, place them in the breadbasket for bread storage.",
+    "Use two arms and set the golden bread, the sponge-textured golden bread in the light beige rectangular breadbasket.",
+    "Pick the cuboid bread and the medium-sized bread piece for the the beige breadbasket for holding bread",
+    "Use both arms to move the soft bread, the bread with rounded edges to the medium rectangular breadbasket.",
+    "Place the hand-sized bread block and the square-shaped bread piece in the plastic breadbasket with mesh sides using the dual arm",
+    "Grab two breads the bread with rough texture and the fluffy baked bread and place in the beige breadbasket.",
+    "Move the square-shaped bread and the light brown porous bread to the rectangular breadbasket",
+    "Put the golden bread loaf and the soft square bread into the rectangular breadbasket using two arms.",
+    "Simultaneously grab the golden bread and the golden brown bread, drop in the textured beige breadbasket.",
+    "Simultaneously use the dual arm to drop the golden bread and the golden brown bread in the light and textured breadbasket.",
+    "Shift the bread loaf with bumpy surface and the square-shaped bread piece together to the light beige rectangular breadbasket.",
+    "Take the square-shaped bread and the fluffy baked bread then place in the textured beige breadbasket.",
+    "Grab the cuboid bread and the soft square bread quickly and drop them into the rectangular breadbasket.",
+    "Simultaneously grab the soft bread and the soft square bread using the dual arm, then drop them in the light beige rectangular breadbasket.",
+    "Take the square-shaped bread and the bread with soft texture together and place them into the textured beige breadbasket.",
+    "Take the light golden brown bread and the golden brown bread to the plastic breadbasket with mesh sides",
+    "Grab both the light golden brown bread and the medium-sized bread piece, drop into the light beige rectangular breadbasket.",
+    "Lift the golden bread and the sponge-textured golden bread with two arms, put in the woven light beige breadbasket.",
+    "Pick up both the hand-sized bread block and the golden baked bread, then place them in the woven light beige breadbasket.",
+    "Lift the square-shaped bread and the light brown porous bread at once with the dual arm, then set them in the woven light beige breadbasket.",
+    "Pick the hand-sized bread block and the fluffy baked bread and set them in the rectangular breadbasket.",
+    "Take the bread loaf with uneven edges and the bread with soft texture, place them inside the woven light beige breadbasket.",
+    "Grab both the bread block with light patches and the soft square bread with the dual arm and place in the light and textured breadbasket.",
+    "Shift the doughy and soft bread and the golden baked bread into the textured beige breadbasket",
+    "Use the dual arm to place the bread with rough texture and the bread with rounded edges into the textured beige breadbasket.",
+    "Move the bread block with light patches and the square-shaped bread piece at once into the rectangular breadbasket.",
+    "Pick the soft bread and the golden brown bread, place them in the breadbasket for bread storage.",
+    "Use two arms and set the bread with rough texture, the golden brown bread in the rectangular breadbasket.",
+    "Pick the golden bread loaf and the rounded square loaf for the the breadbasket for bread storage",
+    "Use both arms to move the bread block with light patches, the medium-sized bread piece to the breadbasket with textured sides.",
+    "Place the golden bread loaf and the square-shaped bread piece in the plastic mesh breadbasket using the dual arm",
+    "Grab two breads the bread loaf with bumpy surface and the medium bread with rounded sides and place in the breadbasket for bread storage.",
+    "Move the golden bread loaf and the bread with soft texture to the textured beige breadbasket",
+    "Put the doughy and soft bread and the bread with rounded edges into the breadbasket for bread storage using two arms.",
+    "Simultaneously grab the doughy and soft bread and the sponge-textured golden bread, drop in the breadbasket with textured sides.",
+    "Simultaneously use the dual arm to drop the golden bread loaf and the bread with soft texture in the rectangular breadbasket.",
+    "Shift the golden bread loaf and the rounded square loaf together to the rectangular breadbasket.",
+    "Take the golden bread and the fluffy baked bread then place in the woven light beige breadbasket.",
+    "Grab the square-shaped bread and the golden brown bread quickly and drop them into the textured beige breadbasket.",
+    "Simultaneously grab the light golden brown bread and the light brown porous bread using the dual arm, then drop them in the rectangular breadbasket.",
+    "Take the golden bread and the medium bread with rounded sides together and place them into the light beige rectangular breadbasket.",
+    "Take the hand-sized bread block and the medium-sized bread piece to the rectangular breadbasket",
+    "Grab both the soft bread and the rounded square loaf, drop into the textured beige breadbasket.",
+    "Lift the hand-sized bread block and the medium bread with rounded sides with two arms, put in the medium rectangular breadbasket.",
+    "Pick up both the hand-sized bread block and the square-shaped bread piece, then place them in the breadbasket for bread storage.",
+    "Lift the doughy and soft bread and the medium-sized bread piece at once with the dual arm, then set them in the beige breadbasket.",
+    "Pick the golden bread and the medium-sized bread piece and set them in the medium rectangular breadbasket.",
+    "Take the soft bread and the fluffy baked bread, place them inside the beige breadbasket for holding bread.",
+    "Grab both the doughy and soft bread and the bread with rounded edges with the dual arm and place in the plastic breadbasket with mesh sides.",
+    "Shift the bread loaf with bumpy surface and the soft square bread into the woven light beige breadbasket",
+    "Use the dual arm to place the bread loaf with bumpy surface and the light brown porous bread into the textured beige breadbasket.",
+    "Move the light golden brown bread and the bread with rounded edges at once into the breadbasket for bread storage.",
+    "Pick the bread block with light patches and the medium bread with rounded sides, place them in the beige breadbasket.",
+    "Use two arms and set the soft bread, the medium bread with rounded sides in the light beige rectangular breadbasket."
+  ],
+  "unseen": [
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the shallow rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the soft bread with golden edges and place in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and put them in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the soft bread with golden edges with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the shallow rectangular breadbasket.",
+    "Place the bread with golden crust and the square bread with light spots into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the bread with golden crust and the soft bread with golden edges, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the rectangular bread loaf and the soft bread with golden edges, then place them in the shallow rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the square bread with light spots and place in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the square bread with light spots with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop them into the woven shallow breadbasket.",
+    "Place the bread loaf with soft surface and the square bread with light spots into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the bread with golden crust and the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the square bread with light spots, then place them in the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and the soft bread with golden edges and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and put them in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the square bread with light spots with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop them into the shallow rectangular breadbasket.",
+    "Place the bread loaf with soft surface and the soft bread with golden edges into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the bread with golden crust and the spongy golden brown bread, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the spongy golden brown bread, then place them in the woven shallow breadbasket.",
+    "Pick the bread with golden crust and the square bread with light spots and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the spongy golden brown bread and place in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and put them in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the breadbasket with woven pattern.",
+    "Place the rectangular bread loaf and the soft bread with golden edges into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the bread loaf with soft surface and the soft bread with golden edges, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and the square bread with light spots and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop them into the woven shallow breadbasket.",
+    "Place the bread loaf with soft surface and the spongy golden brown bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the bread loaf with soft surface and the soft bread with golden edges, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the spongy golden brown bread, then place them in the woven shallow breadbasket.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the rectangular bread loaf and the spongy golden brown bread and place in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and put them in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop them into the breadbasket with woven pattern.",
+    "Place the bread with golden crust and the soft bread with golden edges into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the bread with golden crust and the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the spongy golden brown bread, then place them in the breadbasket with woven pattern.",
+    "Pick the bread with golden crust and the spongy golden brown bread and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the soft bread with golden edges and place in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the square bread with light spots and put them in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop them into the woven shallow breadbasket.",
+    "Place the bread with golden crust and the soft bread with golden edges into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the bread with golden crust and the square bread with light spots, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the breadbasket with woven pattern.",
+    "Pick the bread with golden crust and the soft bread with golden edges and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the spongy golden brown bread and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges and put them in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the spongy golden brown bread and drop them into the shallow rectangular breadbasket.",
+    "Place the bread loaf with soft surface and the spongy golden brown bread into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the bread with golden crust and the soft bread with golden edges, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the square bread with light spots and place in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the square bread with light spots with two arms, place in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the soft bread with golden edges and drop it into the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop them into the shallow rectangular breadbasket.",
+    "Place the rectangular bread loaf and the spongy golden brown bread into the breadbasket with woven pattern using the dual arm",
+    "Use one arm to grab the rectangular bread loaf and the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the soft bread with golden edges, then place them in the woven shallow breadbasket.",
+    "Pick the bread loaf with soft surface and the spongy golden brown bread and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the rectangular bread loaf and the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and put them in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the soft bread with golden edges with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the square bread with light spots and drop them into the shallow rectangular breadbasket.",
+    "Place the bread with golden crust and the spongy golden brown bread into the shallow rectangular breadbasket using the dual arm",
+    "Use one arm to grab the bread with golden crust and the soft bread with golden edges, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the shallow rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the spongy golden brown bread and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the soft bread with golden edges and place in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the spongy golden brown bread and put them in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the soft bread with golden edges with two arms, place in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the spongy golden brown bread and drop them into the breadbasket with woven pattern.",
+    "Place the bread with golden crust and the soft bread with golden edges into the woven shallow breadbasket using the dual arm",
+    "Use one arm to grab the bread with golden crust and the soft bread with golden edges, drop in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the spongy golden brown bread, then place them in the breadbasket with woven pattern."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode6.json b/place_bread_basket/demo_randomized/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..b14046b66b3638c243f99afb215d4c653e21aec8
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the bread block with light patches into the oval breadbasket using an arm.",
+    "Pick up the soft bread and drop it in the woven plastic breadbasket.",
+    "Grab the golden bread loaf with one hand and set it in the oval breadbasket.",
+    "Pick the light golden brown bread and move it to the light brown breadbasket.",
+    "Grab the doughy and soft bread, drop it into the breadbasket with curved base.",
+    "Drop the bread block with light patches into the beige basket for holding bread",
+    "Move the golden bread loaf to the synthetic material breadbasket using one arm.",
+    "Grab the golden bread with an arm and set in the breadbasket with curved base.",
+    "Pick up the bread loaf with bumpy surface and put it in the breadbasket for small food items.",
+    "Lift the hand-sized bread block and transfer to the woven plastic breadbasket.",
+    "Grab the hand-sized bread block with the right arm and drop it in the breadbasket with curved base.",
+    "Lift the bread loaf with bumpy surface and set it in the oval breadbasket.",
+    "Grab the cuboid bread for the light brown breadbasket with the right arm",
+    "Use the right arm to grab the cuboid bread for the breadbasket for small food items",
+    "Use the right arm to grab the golden bread and drop it inside the oval basket for bread.",
+    "Pick the square-shaped bread and put it into the oval breadbasket.",
+    "Put the bread block with light patches into the basket with light brown weaving after grabbing it.",
+    "Put the hand-sized bread block into the breadbasket for small food items using an arm.",
+    "Pick up the square-shaped bread and drop it in the basket with light brown weaving.",
+    "Grab the golden bread loaf with one hand and set it in the light brown breadbasket.",
+    "Pick the hand-sized bread block and move it to the light brown breadbasket.",
+    "Grab the light golden brown bread, drop it into the beige basket for holding bread.",
+    "Drop the doughy and soft bread into the beige basket for holding bread",
+    "Move the golden bread to the oval breadbasket using one arm.",
+    "Grab the cuboid bread with an arm and set in the woven plastic breadbasket.",
+    "Pick up the bread block with light patches and put it in the oval breadbasket.",
+    "Lift the bread block with light patches and transfer to the breadbasket with curved base.",
+    "Grab the bread with rough texture with the right arm and drop it in the medium oval breadbasket.",
+    "Lift the doughy and soft bread and set it in the woven plastic breadbasket.",
+    "Grab the bread with rough texture for the beige basket for holding bread with the right arm",
+    "Use the right arm to grab the bread block with light patches for the woven plastic breadbasket",
+    "Use the right arm to grab the light golden brown bread and drop it inside the oval basket for bread.",
+    "Pick the cuboid bread and put it into the medium oval breadbasket.",
+    "Put the cuboid bread into the two-hand-sized breadbasket after grabbing it.",
+    "Put the golden bread loaf into the smooth-textured breadbasket using an arm.",
+    "Pick up the hand-sized bread block and drop it in the basket with light brown weaving.",
+    "Grab the bread with rough texture with one hand and set it in the breadbasket with curved base.",
+    "Pick the light golden brown bread and move it to the light brown breadbasket.",
+    "Grab the bread loaf with bumpy surface, drop it into the light brown breadbasket.",
+    "Drop the doughy and soft bread into the medium oval breadbasket",
+    "Move the golden bread to the woven plastic breadbasket using one arm.",
+    "Grab the doughy and soft bread with an arm and set in the basket with light brown weaving.",
+    "Pick up the golden bread and put it in the medium oval breadbasket.",
+    "Lift the bread block with light patches and transfer to the breadbasket for small food items.",
+    "Grab the cuboid bread with the right arm and drop it in the two-hand-sized breadbasket.",
+    "Lift the soft bread and set it in the breadbasket with curved base.",
+    "Grab the bread loaf with uneven edges for the woven plastic breadbasket with the right arm",
+    "Use the right arm to grab the golden bread for the smooth-textured breadbasket",
+    "Use the right arm to grab the bread loaf with bumpy surface and drop it inside the medium oval breadbasket.",
+    "Pick the golden bread and put it into the breadbasket for small food items.",
+    "Put the bread loaf with uneven edges into the light brown breadbasket after grabbing it.",
+    "Put the bread block with light patches into the medium oval breadbasket using an arm.",
+    "Pick up the bread loaf with bumpy surface and drop it in the breadbasket with curved base.",
+    "Grab the light golden brown bread with one hand and set it in the breadbasket with curved base.",
+    "Pick the bread with rough texture and move it to the light brown breadbasket.",
+    "Grab the square-shaped bread, drop it into the medium oval breadbasket.",
+    "Drop the bread loaf with bumpy surface into the smooth-textured breadbasket",
+    "Move the soft bread to the medium oval breadbasket using one arm.",
+    "Grab the cuboid bread with an arm and set in the beige basket for holding bread.",
+    "Pick up the bread loaf with uneven edges and put it in the beige basket for holding bread.",
+    "Lift the golden bread and transfer to the smooth-textured breadbasket.",
+    "Grab the hand-sized bread block with the right arm and drop it in the oval breadbasket.",
+    "Lift the light golden brown bread and set it in the breadbasket for small food items.",
+    "Grab the cuboid bread for the breadbasket with curved base with the right arm",
+    "Use the right arm to grab the bread loaf with bumpy surface for the breadbasket for small food items",
+    "Use the right arm to grab the soft bread and drop it inside the smooth-textured breadbasket.",
+    "Pick the cuboid bread and put it into the basket with light brown weaving.",
+    "Put the golden bread loaf into the breadbasket for small food items after grabbing it.",
+    "Put the hand-sized bread block into the basket with light brown weaving using an arm.",
+    "Pick up the cuboid bread and drop it in the smooth-textured breadbasket.",
+    "Grab the bread block with light patches with one hand and set it in the medium oval breadbasket.",
+    "Pick the bread loaf with uneven edges and move it to the smooth-textured breadbasket.",
+    "Grab the doughy and soft bread, drop it into the basket with light brown weaving.",
+    "Drop the bread loaf with bumpy surface into the breadbasket with curved base",
+    "Move the golden bread to the breadbasket for small food items using one arm.",
+    "Grab the soft bread with an arm and set in the two-hand-sized breadbasket.",
+    "Pick up the bread block with light patches and put it in the beige basket for holding bread.",
+    "Lift the light golden brown bread and transfer to the two-hand-sized breadbasket.",
+    "Grab the bread block with light patches with the right arm and drop it in the oval breadbasket.",
+    "Lift the doughy and soft bread and set it in the oval basket for bread.",
+    "Grab the bread loaf with uneven edges for the oval breadbasket with the right arm",
+    "Use the right arm to grab the hand-sized bread block for the beige basket for holding bread",
+    "Use the right arm to grab the golden bread loaf and drop it inside the woven plastic breadbasket.",
+    "Pick the bread loaf with uneven edges and put it into the smooth-textured breadbasket.",
+    "Put the doughy and soft bread into the medium oval breadbasket after grabbing it.",
+    "Put the bread loaf with uneven edges into the light brown breadbasket using an arm.",
+    "Pick up the golden bread loaf and drop it in the medium oval breadbasket.",
+    "Grab the golden bread with one hand and set it in the oval breadbasket.",
+    "Pick the bread block with light patches and move it to the breadbasket for small food items.",
+    "Grab the bread loaf with uneven edges, drop it into the oval basket for bread.",
+    "Drop the golden bread loaf into the woven plastic breadbasket",
+    "Move the bread with rough texture to the oval basket for bread using one arm.",
+    "Grab the soft bread with an arm and set in the oval breadbasket.",
+    "Pick up the bread block with light patches and put it in the light brown breadbasket.",
+    "Lift the bread block with light patches and transfer to the breadbasket with curved base.",
+    "Grab the bread block with light patches with the right arm and drop it in the oval basket for bread.",
+    "Lift the bread block with light patches and set it in the synthetic material breadbasket.",
+    "Grab the bread block with light patches for the smooth-textured breadbasket with the right arm",
+    "Use the right arm to grab the doughy and soft bread for the two-hand-sized breadbasket",
+    "Use the right arm to grab the bread loaf with bumpy surface and drop it inside the synthetic material breadbasket."
+  ],
+  "unseen": [
+    "Place the bread loaf with soft surface into the beige breadbasket using the right arm",
+    "Pick the rectangular bread loaf and drop it in the beige breadbasket",
+    "Pick the bread loaf with soft surface and place it in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and put it in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick the rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Place the bread with golden crust into the breadbasket with ridged texture using the right arm",
+    "Pick the bread loaf with soft surface and drop it in the beige breadbasket",
+    "Pick the bread with golden crust and place it in the beige breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and put it in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and drop it into the beige breadbasket.",
+    "Place the bread with golden crust into the medium-sized breadbasket using the right arm",
+    "Pick the rectangular bread loaf and drop it in the beige breadbasket",
+    "Pick the bread loaf with soft surface and place it in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and put it in the beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Place the bread loaf with soft surface into the beige breadbasket using the right arm",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with ridged texture",
+    "Pick the bread loaf with soft surface and place it in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and put it in the beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Place the bread with golden crust into the breadbasket with ridged texture using the right arm",
+    "Pick the bread loaf with soft surface and drop it in the breadbasket with ridged texture",
+    "Pick the rectangular bread loaf and place it in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and drop it into the beige breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the beige breadbasket.",
+    "Grab the bread with golden crust and put it in the beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick the rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the medium-sized breadbasket.",
+    "Place the rectangular bread loaf into the breadbasket with ridged texture using the right arm",
+    "Pick the bread with golden crust and drop it in the medium-sized breadbasket",
+    "Pick the bread loaf with soft surface and place it in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface and put it in the medium-sized breadbasket.",
+    "Use one arm to grab the bread with golden crust, drop in the beige breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Place the bread loaf with soft surface into the breadbasket with ridged texture using the right arm",
+    "Pick the bread with golden crust and drop it in the medium-sized breadbasket",
+    "Pick the rectangular bread loaf and place it in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick up the bread with golden crust, then place it in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and put it in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick the bread with golden crust and place in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the beige breadbasket.",
+    "Place the bread with golden crust into the beige breadbasket using the right arm",
+    "Pick the bread with golden crust and drop it in the breadbasket with ridged texture",
+    "Pick the rectangular bread loaf and place it in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with ridged texture.",
+    "Grab the bread loaf with soft surface with one arm, place in the beige breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the breadbasket with ridged texture.",
+    "Grab the rectangular bread loaf and put it in the beige breadbasket.",
+    "Use one arm to grab the bread with golden crust, drop in the medium-sized breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the medium-sized breadbasket.",
+    "Grab the bread with golden crust and drop it into the breadbasket with ridged texture.",
+    "Place the bread with golden crust into the breadbasket with ridged texture using the right arm",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with ridged texture",
+    "Pick the bread with golden crust and place it in the beige breadbasket.",
+    "Grab the bread with golden crust and drop it into the medium-sized breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the beige breadbasket.",
+    "Grab the rectangular bread loaf and put it in the beige breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Use the right arm to pick the bread with golden crust and place in the medium-sized breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Place the bread with golden crust into the medium-sized breadbasket using the right arm",
+    "Pick the rectangular bread loaf and drop it in the beige breadbasket",
+    "Pick the bread loaf with soft surface and place it in the beige breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with ridged texture.",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with ridged texture.",
+    "Grab the bread with golden crust and put it in the breadbasket with ridged texture.",
+    "Use one arm to grab the rectangular bread loaf, drop in the beige breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the medium-sized breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the medium-sized breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode7.json b/place_bread_basket/demo_randomized/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f30f347d23fed63abf664b46cd9b807b8d65c648
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the rectangular bread soft inside and the brown loaf into the breadbasket with curved base using two arms.",
+    "Lift the square loaf of bread and the brown loaf at once with the dual arm, then set them in the light brown breadbasket.",
+    "Shift the square loaf of bread and the smooth loaf with rounded edges together to the two-hand-sized breadbasket.",
+    "Place the bread with golden surface color and the brown loaf in the beige basket for holding bread using the dual arm",
+    "Take the rectangular bread soft inside and the brown loaf to the oval breadbasket",
+    "Use the dual arm to place the bread with firm crust edges and the brown loaf into the synthetic material breadbasket.",
+    "Take the bread with rounded corners and the golden bread loaf then place in the medium oval breadbasket.",
+    "Grab two breads the golden bread and the brown loaf and place in the woven plastic breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with golden surface color and the smooth loaf with rounded edges in the medium oval breadbasket.",
+    "Simultaneously grab the bread with rounded corners and the small loaf with curved top using the dual arm, then drop them in the synthetic material breadbasket.",
+    "Move the slice-shaped bread and the light brown loaf with smooth sides to the medium oval breadbasket",
+    "Grab both the square loaf of bread and the soft brown bread with the dual arm and place in the light brown breadbasket.",
+    "Pick the bread loaf with square shape and the light brown loaf with smooth sides and set them in the medium oval breadbasket.",
+    "Lift the slice-shaped bread and the small loaf with curved top with two arms, put in the light brown breadbasket.",
+    "Take the rectangular bread soft inside and the hand-sized oval loaf together and place them into the breadbasket for small food items.",
+    "Pick the rectangular bread soft inside and the golden bread loaf, place them in the woven plastic breadbasket.",
+    "Use both arms to move the square loaf of bread, the soft brown bread to the oval breadbasket.",
+    "Grab the brown bread loaf and the soft brown bread quickly and drop them into the breadbasket for small food items.",
+    "Pick up both the golden brown loaf-shaped bread and the light brown loaf with smooth sides, then place them in the smooth-textured breadbasket.",
+    "Use two arms and set the brown bread loaf, the small golden brown bread in the two-hand-sized breadbasket.",
+    "Shift the bread with rounded corners and the small golden brown bread into the medium oval breadbasket",
+    "Simultaneously grab the bread with rounded corners and the bread with split top, drop in the medium oval breadbasket.",
+    "Take the bread loaf with square shape and the bread with warm golden color, place them inside the synthetic material breadbasket.",
+    "Move the golden crusted bread slice and the light brown loaf with smooth sides at once into the medium oval breadbasket.",
+    "Pick the golden brown loaf-shaped bread and the small golden brown bread for the the breadbasket for small food items",
+    "Grab both the bread with rounded corners and the light brown loaf with smooth sides, drop into the medium oval breadbasket.",
+    "Put the rectangular bread soft inside and the small golden brown bread into the synthetic material breadbasket using two arms.",
+    "Lift the golden bread and the golden bread loaf at once with the dual arm, then set them in the beige basket for holding bread.",
+    "Shift the golden bread and the light brown loaf with smooth sides together to the smooth-textured breadbasket.",
+    "Place the golden bread and the light brown loaf with smooth sides in the breadbasket for small food items using the dual arm",
+    "Take the bread with firm crust edges and the light brown bread with ridges to the breadbasket with curved base",
+    "Use the dual arm to place the brown bread loaf and the soft brown bread into the two-hand-sized breadbasket.",
+    "Take the slice-shaped bread and the brown loaf then place in the breadbasket with curved base.",
+    "Grab two breads the soft golden baked bread and the brown loaf and place in the beige basket for holding bread.",
+    "Simultaneously use the dual arm to drop the golden crusted bread slice and the bread with warm golden color in the basket with light brown weaving.",
+    "Simultaneously grab the rectangular bread soft inside and the small loaf with curved top using the dual arm, then drop them in the synthetic material breadbasket.",
+    "Move the brown bread loaf and the small loaf with curved top to the light brown breadbasket",
+    "Grab both the golden bread and the golden bread loaf with the dual arm and place in the medium oval breadbasket.",
+    "Pick the slice-shaped bread and the brown loaf and set them in the basket with light brown weaving.",
+    "Lift the soft golden baked bread and the golden bread loaf with two arms, put in the light brown breadbasket.",
+    "Take the brown bread loaf and the golden bread loaf together and place them into the oval breadbasket.",
+    "Pick the bread loaf with square shape and the hand-sized oval loaf, place them in the synthetic material breadbasket.",
+    "Use both arms to move the bread with golden surface color, the bread with warm golden color to the beige basket for holding bread.",
+    "Grab the rectangular bread soft inside and the smooth loaf with rounded edges quickly and drop them into the medium oval breadbasket.",
+    "Pick up both the golden bread and the small golden brown bread, then place them in the oval breadbasket.",
+    "Use two arms and set the soft golden baked bread, the smooth loaf with rounded edges in the beige basket for holding bread.",
+    "Shift the bread loaf with square shape and the hand-sized oval loaf into the breadbasket for small food items",
+    "Simultaneously grab the bread with golden surface color and the small loaf with curved top, drop in the light brown breadbasket.",
+    "Take the bread with golden surface color and the small golden brown bread, place them inside the woven plastic breadbasket.",
+    "Move the bread loaf with square shape and the soft brown bread at once into the oval breadbasket.",
+    "Pick the soft golden baked bread and the bread with golden-brown crust for the the breadbasket for small food items",
+    "Grab both the square loaf of bread and the brown loaf, drop into the medium oval breadbasket.",
+    "Put the square loaf of bread and the small loaf with curved top into the breadbasket for small food items using two arms.",
+    "Lift the soft golden baked bread and the smooth loaf with rounded edges at once with the dual arm, then set them in the oval basket for bread.",
+    "Shift the square loaf of bread and the hand-sized oval loaf together to the light brown breadbasket.",
+    "Place the golden brown loaf-shaped bread and the light brown bread with ridges in the oval basket for bread using the dual arm",
+    "Take the brown bread loaf and the small golden brown bread to the synthetic material breadbasket",
+    "Use the dual arm to place the rectangular bread soft inside and the light brown bread with ridges into the breadbasket with curved base.",
+    "Take the golden crusted bread slice and the small golden brown bread then place in the smooth-textured breadbasket.",
+    "Grab two breads the bread with golden surface color and the hand-sized oval loaf and place in the oval breadbasket.",
+    "Simultaneously use the dual arm to drop the slice-shaped bread and the smooth loaf with rounded edges in the woven plastic breadbasket.",
+    "Simultaneously grab the bread with firm crust edges and the soft brown bread using the dual arm, then drop them in the two-hand-sized breadbasket.",
+    "Move the bread with golden surface color and the light brown loaf with smooth sides to the woven plastic breadbasket",
+    "Grab both the golden crusted bread slice and the soft brown bread with the dual arm and place in the oval breadbasket.",
+    "Pick the bread with golden surface color and the brown loaf and set them in the beige basket for holding bread.",
+    "Lift the bread loaf with square shape and the small loaf with curved top with two arms, put in the oval breadbasket.",
+    "Take the bread loaf with square shape and the bread with split top together and place them into the medium oval breadbasket.",
+    "Pick the rectangular bread soft inside and the brown loaf, place them in the oval breadbasket.",
+    "Use both arms to move the soft golden baked bread, the bread with warm golden color to the oval basket for bread.",
+    "Grab the soft golden baked bread and the bread with warm golden color quickly and drop them into the breadbasket with curved base.",
+    "Pick up both the slice-shaped bread and the golden bread loaf, then place them in the breadbasket with curved base.",
+    "Use two arms and set the golden bread, the brown loaf in the basket with light brown weaving.",
+    "Shift the bread with golden surface color and the hand-sized oval loaf into the medium oval breadbasket",
+    "Simultaneously grab the bread with rounded corners and the bread with split top, drop in the two-hand-sized breadbasket.",
+    "Take the brown bread loaf and the bread with split top, place them inside the breadbasket for small food items.",
+    "Move the bread with rounded corners and the soft brown bread at once into the basket with light brown weaving.",
+    "Pick the brown bread loaf and the light brown bread with ridges for the the breadbasket for small food items",
+    "Grab both the brown bread loaf and the hand-sized oval loaf, drop into the woven plastic breadbasket.",
+    "Put the golden bread and the light brown loaf with smooth sides into the synthetic material breadbasket using two arms.",
+    "Lift the bread with golden surface color and the light brown bread with ridges at once with the dual arm, then set them in the beige basket for holding bread.",
+    "Shift the soft golden baked bread and the bread with split top together to the breadbasket with curved base.",
+    "Place the golden crusted bread slice and the bread with split top in the woven plastic breadbasket using the dual arm",
+    "Take the bread with firm crust edges and the soft brown bread to the medium oval breadbasket",
+    "Use the dual arm to place the brown bread loaf and the small golden brown bread into the breadbasket with curved base.",
+    "Take the bread with firm crust edges and the small loaf with curved top then place in the woven plastic breadbasket.",
+    "Grab two breads the bread with golden surface color and the small golden brown bread and place in the two-hand-sized breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with golden surface color and the brown loaf in the beige basket for holding bread.",
+    "Simultaneously grab the square loaf of bread and the small loaf with curved top using the dual arm, then drop them in the breadbasket with curved base.",
+    "Move the bread with firm crust edges and the bread with golden-brown crust to the breadbasket for small food items",
+    "Grab both the soft golden baked bread and the bread with golden-brown crust with the dual arm and place in the breadbasket with curved base.",
+    "Pick the slice-shaped bread and the smooth loaf with rounded edges and set them in the smooth-textured breadbasket.",
+    "Lift the square loaf of bread and the light brown bread with ridges with two arms, put in the breadbasket with curved base.",
+    "Take the bread with firm crust edges and the brown loaf together and place them into the breadbasket for small food items.",
+    "Pick the slice-shaped bread and the light brown bread with ridges, place them in the breadbasket for small food items.",
+    "Use both arms to move the bread loaf with square shape, the bread with split top to the smooth-textured breadbasket.",
+    "Grab the bread loaf with square shape and the bread with golden-brown crust quickly and drop them into the smooth-textured breadbasket.",
+    "Pick up both the golden brown loaf-shaped bread and the bread with warm golden color, then place them in the oval breadbasket.",
+    "Use two arms and set the soft golden baked bread, the bread with warm golden color in the two-hand-sized breadbasket.",
+    "Shift the soft golden baked bread and the light brown loaf with smooth sides into the synthetic material breadbasket",
+    "Simultaneously grab the bread with rounded corners and the bread with golden-brown crust, drop in the oval breadbasket."
+  ],
+  "unseen": [
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval-shaped soft bread, then place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the small loaf-shaped bread and the oval-shaped soft bread and place in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread with two arms, place in the breadbasket with ridged texture.",
+    "Place the bread loaf medium-sized and the oval-shaped soft bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop it into the beige breadbasket.",
+    "Pick the small loaf-shaped bread and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop them into the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the rounded oval bread, then place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Place the soft rectangular bread loaf and the oval bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop it into the medium-sized breadbasket.",
+    "Pick the bread loaf medium-sized and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the oval bread and place in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval bread and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the oval bread, then place them in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the small loaf-shaped bread and the oval bread and drop it into the beige breadbasket.",
+    "Pick the small loaf-shaped bread and the oval bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Place the bread loaf medium-sized and the oval-shaped soft bread into the beige breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the oval bread and drop it into the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the rounded oval bread, drop in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the rounded oval bread, then place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop it into the breadbasket with ridged texture.",
+    "Pick the soft rectangular bread loaf and the rounded oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the bread loaf medium-sized and the rounded oval bread, then place them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the beige breadbasket using the dual arm",
+    "Grab the small loaf-shaped bread and the oval bread and drop it into the breadbasket with ridged texture.",
+    "Pick the soft rectangular bread loaf and the rounded oval bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval bread and drop them into the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval-shaped soft bread, drop in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval-shaped soft bread, then place them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the rounded oval bread and place in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval bread, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Place the soft rectangular bread loaf and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the small loaf-shaped bread and the oval bread and drop it into the beige breadbasket.",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the oval bread and place in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop them into the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf medium-sized and the rounded oval bread, drop in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the oval bread, then place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Place the bread loaf medium-sized and the oval bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop it into the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and drop them into the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the rounded oval bread, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the oval-shaped soft bread, then place them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval bread with two arms, place in the medium-sized breadbasket.",
+    "Place the small loaf-shaped bread and the oval bread into the beige breadbasket using the dual arm",
+    "Grab the bread loaf medium-sized and the oval bread and drop it into the breadbasket with ridged texture.",
+    "Pick the small loaf-shaped bread and the rounded oval bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the rounded oval bread and place in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the beige breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval bread and put them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the rounded oval bread, then place them in the beige breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode8.json b/place_bread_basket/demo_randomized/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..0798ca40b5fd9ecdce4d73e24512de2dbd47afa5
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the soft brown bread and the golden bread loaf to the two-hand-sized breadbasket",
+    "Shift the bread with split top and the smooth loaf with rounded edges into the oval basket for bread",
+    "Move the hand-sized oval loaf and the bread with split top at once into the synthetic material breadbasket.",
+    "Use both arms to move the light brown loaf with smooth sides, the bread with warm golden color to the oval basket for bread.",
+    "Grab the small golden brown bread and the light brown bread with ridges quickly and drop them into the woven plastic breadbasket.",
+    "Simultaneously use the dual arm to drop the light brown bread with ridges and the soft brown bread in the beige basket for holding bread.",
+    "Place the light brown bread with ridges and the hand-sized oval loaf in the oval basket for bread using the dual arm",
+    "Move the small loaf with curved top and the brown loaf to the breadbasket with curved base",
+    "Lift the smooth loaf with rounded edges and the bread with golden-brown crust at once with the dual arm, then set them in the breadbasket for small food items.",
+    "Pick up both the bread with split top and the soft brown bread, then place them in the oval breadbasket.",
+    "Take the hand-sized oval loaf and the light brown loaf with smooth sides together and place them into the synthetic material breadbasket.",
+    "Grab both the hand-sized oval loaf and the light brown bread with ridges with the dual arm and place in the synthetic material breadbasket.",
+    "Grab two breads the light brown bread with ridges and the bread with golden-brown crust and place in the beige basket for holding bread.",
+    "Shift the brown loaf and the brown loaf together to the two-hand-sized breadbasket.",
+    "Use two arms and set the golden bread loaf, the golden bread loaf in the beige basket for holding bread.",
+    "Simultaneously grab the soft brown bread and the smooth loaf with rounded edges using the dual arm, then drop them in the medium oval breadbasket.",
+    "Use the dual arm to place the golden bread loaf and the small golden brown bread into the medium oval breadbasket.",
+    "Pick the hand-sized oval loaf and the brown loaf, place them in the light brown breadbasket.",
+    "Put the light brown bread with ridges and the bread with split top into the light brown breadbasket using two arms.",
+    "Pick the soft brown bread and the small golden brown bread for the the oval basket for bread",
+    "Take the soft brown bread and the small golden brown bread then place in the oval basket for bread.",
+    "Take the golden bread loaf and the golden bread loaf, place them inside the light brown breadbasket.",
+    "Pick the bread with golden-brown crust and the hand-sized oval loaf and set them in the smooth-textured breadbasket.",
+    "Lift the bread with golden-brown crust and the smooth loaf with rounded edges with two arms, put in the oval basket for bread.",
+    "Simultaneously grab the small loaf with curved top and the light brown bread with ridges, drop in the woven plastic breadbasket.",
+    "Grab both the light brown bread with ridges and the bread with golden-brown crust, drop into the basket with light brown weaving.",
+    "Take the light brown loaf with smooth sides and the soft brown bread to the two-hand-sized breadbasket",
+    "Shift the soft brown bread and the bread with split top into the breadbasket with curved base",
+    "Move the small golden brown bread and the soft brown bread at once into the breadbasket for small food items.",
+    "Use both arms to move the golden bread loaf, the smooth loaf with rounded edges to the medium oval breadbasket.",
+    "Grab the bread with warm golden color and the small golden brown bread quickly and drop them into the medium oval breadbasket.",
+    "Simultaneously use the dual arm to drop the light brown bread with ridges and the soft brown bread in the woven plastic breadbasket.",
+    "Place the light brown bread with ridges and the bread with warm golden color in the oval breadbasket using the dual arm",
+    "Move the light brown loaf with smooth sides and the soft brown bread to the smooth-textured breadbasket",
+    "Lift the hand-sized oval loaf and the bread with warm golden color at once with the dual arm, then set them in the synthetic material breadbasket.",
+    "Pick up both the light brown loaf with smooth sides and the smooth loaf with rounded edges, then place them in the two-hand-sized breadbasket.",
+    "Take the smooth loaf with rounded edges and the smooth loaf with rounded edges together and place them into the oval breadbasket.",
+    "Grab both the light brown loaf with smooth sides and the bread with warm golden color with the dual arm and place in the medium oval breadbasket.",
+    "Grab two breads the small golden brown bread and the small loaf with curved top and place in the oval breadbasket.",
+    "Shift the smooth loaf with rounded edges and the small golden brown bread together to the smooth-textured breadbasket.",
+    "Use two arms and set the hand-sized oval loaf, the light brown bread with ridges in the woven plastic breadbasket.",
+    "Simultaneously grab the bread with split top and the smooth loaf with rounded edges using the dual arm, then drop them in the oval basket for bread.",
+    "Use the dual arm to place the bread with split top and the golden bread loaf into the breadbasket for small food items.",
+    "Pick the soft brown bread and the soft brown bread, place them in the two-hand-sized breadbasket.",
+    "Put the small loaf with curved top and the light brown loaf with smooth sides into the two-hand-sized breadbasket using two arms.",
+    "Pick the bread with golden-brown crust and the soft brown bread for the the medium oval breadbasket",
+    "Take the small golden brown bread and the brown loaf then place in the medium oval breadbasket.",
+    "Take the bread with split top and the bread with warm golden color, place them inside the two-hand-sized breadbasket.",
+    "Pick the hand-sized oval loaf and the bread with split top and set them in the woven plastic breadbasket.",
+    "Lift the hand-sized oval loaf and the smooth loaf with rounded edges with two arms, put in the smooth-textured breadbasket.",
+    "Simultaneously grab the small loaf with curved top and the light brown bread with ridges, drop in the two-hand-sized breadbasket.",
+    "Grab both the hand-sized oval loaf and the bread with warm golden color, drop into the beige basket for holding bread.",
+    "Take the smooth loaf with rounded edges and the bread with warm golden color to the beige basket for holding bread",
+    "Shift the bread with warm golden color and the light brown loaf with smooth sides into the synthetic material breadbasket",
+    "Move the soft brown bread and the light brown loaf with smooth sides at once into the synthetic material breadbasket.",
+    "Use both arms to move the bread with warm golden color, the smooth loaf with rounded edges to the breadbasket for small food items.",
+    "Grab the bread with warm golden color and the smooth loaf with rounded edges quickly and drop them into the medium oval breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with warm golden color and the bread with warm golden color in the basket with light brown weaving.",
+    "Place the light brown loaf with smooth sides and the bread with split top in the oval basket for bread using the dual arm",
+    "Move the brown loaf and the light brown loaf with smooth sides to the oval breadbasket",
+    "Lift the golden bread loaf and the bread with split top at once with the dual arm, then set them in the light brown breadbasket.",
+    "Pick up both the smooth loaf with rounded edges and the hand-sized oval loaf, then place them in the light brown breadbasket.",
+    "Take the small golden brown bread and the small golden brown bread together and place them into the breadbasket with curved base.",
+    "Grab both the bread with split top and the bread with split top with the dual arm and place in the breadbasket for small food items.",
+    "Grab two breads the golden bread loaf and the hand-sized oval loaf and place in the breadbasket with curved base.",
+    "Shift the hand-sized oval loaf and the smooth loaf with rounded edges together to the breadbasket for small food items.",
+    "Use two arms and set the golden bread loaf, the brown loaf in the beige basket for holding bread.",
+    "Simultaneously grab the bread with split top and the golden bread loaf using the dual arm, then drop them in the oval breadbasket.",
+    "Use the dual arm to place the brown loaf and the smooth loaf with rounded edges into the light brown breadbasket.",
+    "Pick the bread with split top and the golden bread loaf, place them in the two-hand-sized breadbasket.",
+    "Put the small golden brown bread and the bread with warm golden color into the medium oval breadbasket using two arms.",
+    "Pick the smooth loaf with rounded edges and the bread with golden-brown crust for the the medium oval breadbasket",
+    "Take the bread with warm golden color and the small loaf with curved top then place in the light brown breadbasket.",
+    "Take the bread with golden-brown crust and the bread with golden-brown crust, place them inside the breadbasket for small food items.",
+    "Pick the brown loaf and the small golden brown bread and set them in the synthetic material breadbasket.",
+    "Lift the bread with warm golden color and the bread with warm golden color with two arms, put in the smooth-textured breadbasket.",
+    "Simultaneously grab the light brown loaf with smooth sides and the small loaf with curved top, drop in the oval basket for bread.",
+    "Grab both the bread with split top and the golden bread loaf, drop into the synthetic material breadbasket.",
+    "Take the bread with warm golden color and the bread with golden-brown crust to the oval basket for bread",
+    "Shift the bread with warm golden color and the hand-sized oval loaf into the basket with light brown weaving",
+    "Move the smooth loaf with rounded edges and the light brown loaf with smooth sides at once into the medium oval breadbasket.",
+    "Use both arms to move the soft brown bread, the light brown loaf with smooth sides to the two-hand-sized breadbasket.",
+    "Grab the small golden brown bread and the smooth loaf with rounded edges quickly and drop them into the basket with light brown weaving.",
+    "Simultaneously use the dual arm to drop the light brown bread with ridges and the small loaf with curved top in the synthetic material breadbasket.",
+    "Place the golden bread loaf and the bread with golden-brown crust in the smooth-textured breadbasket using the dual arm",
+    "Move the small golden brown bread and the bread with warm golden color to the breadbasket for small food items",
+    "Lift the bread with warm golden color and the small loaf with curved top at once with the dual arm, then set them in the beige basket for holding bread.",
+    "Pick up both the bread with split top and the golden bread loaf, then place them in the woven plastic breadbasket.",
+    "Take the soft brown bread and the golden bread loaf together and place them into the breadbasket with curved base.",
+    "Grab both the light brown loaf with smooth sides and the bread with split top with the dual arm and place in the medium oval breadbasket.",
+    "Grab two breads the bread with warm golden color and the bread with split top and place in the oval basket for bread.",
+    "Shift the light brown bread with ridges and the light brown loaf with smooth sides together to the smooth-textured breadbasket.",
+    "Use two arms and set the golden bread loaf, the light brown bread with ridges in the oval breadbasket.",
+    "Simultaneously grab the small loaf with curved top and the golden bread loaf using the dual arm, then drop them in the breadbasket with curved base.",
+    "Use the dual arm to place the hand-sized oval loaf and the bread with split top into the smooth-textured breadbasket.",
+    "Pick the light brown loaf with smooth sides and the light brown loaf with smooth sides, place them in the basket with light brown weaving.",
+    "Put the small golden brown bread and the bread with split top into the light brown breadbasket using two arms.",
+    "Pick the small golden brown bread and the bread with split top for the the beige basket for holding bread",
+    "Take the small golden brown bread and the small loaf with curved top then place in the woven plastic breadbasket.",
+    "Take the brown loaf and the bread with golden-brown crust, place them inside the oval basket for bread."
+  ],
+  "unseen": [
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Pick the oval-shaped soft bread and the oval bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rounded oval bread and the oval-shaped soft bread and place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop them into the medium-sized breadbasket.",
+    "Place the rounded oval bread and the oval bread into the beige breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the oval bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval bread, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval-shaped soft bread, then place them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the oval bread and put them in the medium-sized breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Pick the oval-shaped soft bread and the oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the oval bread and place in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Place the rounded oval bread and the oval-shaped soft bread into the beige breadbasket using the dual arm",
+    "Grab the oval bread and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the rounded oval bread and the rounded oval bread, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the rounded oval bread, then place them in the beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Pick the rounded oval bread and the rounded oval bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the rounded oval bread and drop them into the breadbasket with ridged texture.",
+    "Place the oval bread and the oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the oval bread and the rounded oval bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the rounded oval bread, then place them in the breadbasket with ridged texture.",
+    "Grab the oval bread and the oval-shaped soft bread and put them in the breadbasket with ridged texture.",
+    "Grab the oval bread and the oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Pick the oval bread and the oval bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval bread and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread and drop them into the beige breadbasket.",
+    "Place the oval bread and the oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the oval bread and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval-shaped soft bread, then place them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread and put them in the breadbasket with ridged texture.",
+    "Grab the oval bread and the oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Pick the rounded oval bread and the oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the oval bread and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Place the rounded oval bread and the oval-shaped soft bread into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval-shaped soft bread, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the oval bread and the oval bread, then place them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the rounded oval bread and put them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the oval-shaped soft bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the oval bread and place in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the oval bread and drop them into the medium-sized breadbasket.",
+    "Place the oval-shaped soft bread and the oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the rounded oval bread and drop it into the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the rounded oval bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval-shaped soft bread, then place them in the breadbasket with ridged texture.",
+    "Grab the oval bread and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Grab the oval bread and the rounded oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Pick the rounded oval bread and the rounded oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the oval-shaped soft bread and place in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Place the oval bread and the oval bread into the medium-sized breadbasket using the dual arm",
+    "Grab the oval bread and the rounded oval bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the rounded oval bread and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the oval-shaped soft bread and the oval bread, then place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the oval bread and put them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the oval-shaped soft bread with two arms, place in the breadbasket with ridged texture.",
+    "Pick the oval-shaped soft bread and the oval-shaped soft bread and place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rounded oval bread and the oval-shaped soft bread and place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the rounded oval bread and drop them into the beige breadbasket.",
+    "Place the oval-shaped soft bread and the rounded oval bread into the beige breadbasket using the dual arm",
+    "Grab the oval-shaped soft bread and the oval bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the rounded oval bread and the rounded oval bread, drop in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the oval-shaped soft bread and put them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Pick the oval bread and the rounded oval bread and place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the oval bread and the oval-shaped soft bread and place in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and drop them into the breadbasket with ridged texture.",
+    "Place the oval bread and the oval bread into the beige breadbasket using the dual arm",
+    "Grab the rounded oval bread and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the rounded oval bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval bread, then place them in the beige breadbasket.",
+    "Grab the rounded oval bread and the oval bread and put them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Pick the oval bread and the rounded oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and drop them into the beige breadbasket.",
+    "Place the oval bread and the oval-shaped soft bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the oval bread and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the oval bread and the rounded oval bread, drop in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the rounded oval bread and the oval bread, then place them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the rounded oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Pick the oval-shaped soft bread and the rounded oval bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the oval bread and the oval bread and drop them into the beige breadbasket.",
+    "Place the oval bread and the oval-shaped soft bread into the beige breadbasket using the dual arm",
+    "Grab the oval bread and the oval bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the oval bread and the oval bread, drop in the beige breadbasket.",
+    "Use the dual arm to pick up the rounded oval bread and the oval bread, then place them in the beige breadbasket.",
+    "Grab the oval bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Grab the oval bread and the oval-shaped soft bread with two arms, place in the breadbasket with ridged texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/instructions/episode9.json b/place_bread_basket/demo_randomized/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d45ab8deb0abd8614d850f8f0a10a87ad45971e
--- /dev/null
+++ b/place_bread_basket/demo_randomized/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the golden brown bread and transfer to the breadbasket for small food items.",
+    "Grab the bread with rounded edges with one hand and set it in the beige basket for holding bread.",
+    "Grab the light brown porous bread for the two-hand-sized breadbasket with the right arm",
+    "Use the right arm to grab the bread with soft texture for the oval breadbasket",
+    "Use the right arm to grab the medium bread with rounded sides and drop it inside the oval breadbasket.",
+    "Pick the bread with rounded edges and put it into the oval breadbasket.",
+    "Put the golden brown bread into the two-hand-sized breadbasket after grabbing it.",
+    "Put the bread with rounded edges into the basket with light brown weaving using an arm.",
+    "Grab the medium bread with rounded sides with an arm and set in the medium oval breadbasket.",
+    "Pick up the square-shaped bread piece and drop it in the breadbasket with curved base.",
+    "Pick the medium-sized bread piece and move it to the light brown breadbasket.",
+    "Move the bread with soft texture to the woven plastic breadbasket using one arm.",
+    "Pick up the medium-sized bread piece and put it in the oval breadbasket.",
+    "Drop the golden brown bread into the synthetic material breadbasket",
+    "Grab the bread with rounded edges with the right arm and drop it in the smooth-textured breadbasket.",
+    "Grab the sponge-textured golden bread, drop it into the beige basket for holding bread.",
+    "Lift the fluffy baked bread and set it in the breadbasket with curved base.",
+    "Lift the light brown porous bread and transfer to the oval basket for bread.",
+    "Grab the sponge-textured golden bread with one hand and set it in the basket with light brown weaving.",
+    "Grab the sponge-textured golden bread for the light brown breadbasket with the right arm",
+    "Use the right arm to grab the light brown porous bread for the smooth-textured breadbasket",
+    "Use the right arm to grab the fluffy baked bread and drop it inside the smooth-textured breadbasket.",
+    "Pick the fluffy baked bread and put it into the smooth-textured breadbasket.",
+    "Put the bread with soft texture into the smooth-textured breadbasket after grabbing it.",
+    "Put the square-shaped bread piece into the basket with light brown weaving using an arm.",
+    "Grab the fluffy baked bread with an arm and set in the two-hand-sized breadbasket.",
+    "Pick up the golden brown bread and drop it in the synthetic material breadbasket.",
+    "Pick the soft square bread and move it to the smooth-textured breadbasket.",
+    "Move the golden baked bread to the breadbasket with curved base using one arm.",
+    "Pick up the rounded square loaf and put it in the breadbasket with curved base.",
+    "Drop the rounded square loaf into the beige basket for holding bread",
+    "Grab the fluffy baked bread with the right arm and drop it in the medium oval breadbasket.",
+    "Grab the light brown porous bread, drop it into the breadbasket for small food items.",
+    "Lift the soft square bread and set it in the synthetic material breadbasket.",
+    "Lift the fluffy baked bread and transfer to the breadbasket for small food items.",
+    "Grab the square-shaped bread piece with one hand and set it in the woven plastic breadbasket.",
+    "Grab the medium-sized bread piece for the two-hand-sized breadbasket with the right arm",
+    "Use the right arm to grab the soft square bread for the medium oval breadbasket",
+    "Use the right arm to grab the rounded square loaf and drop it inside the two-hand-sized breadbasket.",
+    "Pick the light brown porous bread and put it into the beige basket for holding bread.",
+    "Put the rounded square loaf into the medium oval breadbasket after grabbing it.",
+    "Put the golden brown bread into the smooth-textured breadbasket using an arm.",
+    "Grab the light brown porous bread with an arm and set in the oval breadbasket.",
+    "Pick up the medium-sized bread piece and drop it in the medium oval breadbasket.",
+    "Pick the golden brown bread and move it to the medium oval breadbasket.",
+    "Move the light brown porous bread to the smooth-textured breadbasket using one arm.",
+    "Pick up the light brown porous bread and put it in the breadbasket for small food items.",
+    "Drop the sponge-textured golden bread into the breadbasket with curved base",
+    "Grab the square-shaped bread piece with the right arm and drop it in the light brown breadbasket.",
+    "Grab the fluffy baked bread, drop it into the synthetic material breadbasket.",
+    "Lift the medium bread with rounded sides and set it in the two-hand-sized breadbasket.",
+    "Lift the golden brown bread and transfer to the oval breadbasket.",
+    "Grab the medium bread with rounded sides with one hand and set it in the oval basket for bread.",
+    "Grab the square-shaped bread piece for the oval breadbasket with the right arm",
+    "Use the right arm to grab the golden baked bread for the medium oval breadbasket",
+    "Use the right arm to grab the square-shaped bread piece and drop it inside the breadbasket for small food items.",
+    "Pick the golden baked bread and put it into the breadbasket with curved base.",
+    "Put the golden baked bread into the woven plastic breadbasket after grabbing it.",
+    "Put the square-shaped bread piece into the breadbasket for small food items using an arm.",
+    "Grab the medium-sized bread piece with an arm and set in the two-hand-sized breadbasket.",
+    "Pick up the light brown porous bread and drop it in the synthetic material breadbasket.",
+    "Pick the fluffy baked bread and move it to the beige basket for holding bread.",
+    "Move the golden baked bread to the synthetic material breadbasket using one arm.",
+    "Pick up the square-shaped bread piece and put it in the oval breadbasket.",
+    "Drop the golden baked bread into the synthetic material breadbasket",
+    "Grab the golden brown bread with the right arm and drop it in the breadbasket for small food items.",
+    "Grab the square-shaped bread piece, drop it into the oval breadbasket.",
+    "Lift the golden brown bread and set it in the synthetic material breadbasket.",
+    "Lift the golden baked bread and transfer to the synthetic material breadbasket.",
+    "Grab the rounded square loaf with one hand and set it in the oval basket for bread.",
+    "Grab the medium-sized bread piece for the woven plastic breadbasket with the right arm",
+    "Use the right arm to grab the sponge-textured golden bread for the smooth-textured breadbasket",
+    "Use the right arm to grab the golden brown bread and drop it inside the two-hand-sized breadbasket.",
+    "Pick the bread with rounded edges and put it into the breadbasket with curved base.",
+    "Put the light brown porous bread into the synthetic material breadbasket after grabbing it.",
+    "Put the light brown porous bread into the breadbasket with curved base using an arm.",
+    "Grab the bread with rounded edges with an arm and set in the light brown breadbasket.",
+    "Pick up the bread with rounded edges and drop it in the breadbasket with curved base.",
+    "Pick the bread with rounded edges and move it to the oval basket for bread.",
+    "Move the light brown porous bread to the beige basket for holding bread using one arm.",
+    "Pick up the medium-sized bread piece and put it in the smooth-textured breadbasket.",
+    "Drop the soft square bread into the oval breadbasket",
+    "Grab the square-shaped bread piece with the right arm and drop it in the oval basket for bread.",
+    "Grab the golden brown bread, drop it into the breadbasket with curved base.",
+    "Lift the fluffy baked bread and set it in the medium oval breadbasket.",
+    "Lift the golden brown bread and transfer to the oval basket for bread.",
+    "Grab the golden baked bread with one hand and set it in the woven plastic breadbasket.",
+    "Grab the fluffy baked bread for the synthetic material breadbasket with the right arm",
+    "Use the right arm to grab the bread with soft texture for the medium oval breadbasket",
+    "Use the right arm to grab the bread with soft texture and drop it inside the oval basket for bread.",
+    "Pick the golden brown bread and put it into the oval basket for bread.",
+    "Put the bread with soft texture into the oval breadbasket after grabbing it.",
+    "Put the rounded square loaf into the two-hand-sized breadbasket using an arm.",
+    "Grab the medium-sized bread piece with an arm and set in the light brown breadbasket.",
+    "Pick up the square-shaped bread piece and drop it in the breadbasket for small food items.",
+    "Pick the rounded square loaf and move it to the smooth-textured breadbasket.",
+    "Move the fluffy baked bread to the synthetic material breadbasket using one arm.",
+    "Pick up the light brown porous bread and put it in the beige basket for holding bread.",
+    "Drop the soft square bread into the oval basket for bread",
+    "Grab the light brown porous bread with the right arm and drop it in the oval breadbasket."
+  ],
+  "unseen": [
+    "Grab the square bread with light spots with one arm, place in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and put it in the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges into the beige breadbasket using the right arm",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with ridged texture",
+    "Use the right arm to pick the square bread with light spots and place in the beige breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and put it in the medium-sized breadbasket.",
+    "Place the square bread with light spots into the medium-sized breadbasket using the right arm",
+    "Pick the soft bread with golden edges and drop it in the beige breadbasket",
+    "Use the right arm to pick the spongy golden brown bread and place in the beige breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the medium-sized breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the beige breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Grab the square bread with light spots with one arm, place in the beige breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Place the square bread with light spots into the medium-sized breadbasket using the right arm",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with ridged texture",
+    "Use the right arm to pick the spongy golden brown bread and place in the beige breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Pick the square bread with light spots and place it in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Place the soft bread with golden edges into the medium-sized breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Use the right arm to pick the square bread with light spots and place in the beige breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the medium-sized breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the beige breadbasket.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Place the square bread with light spots into the medium-sized breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Use the right arm to pick the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the spongy golden brown bread, then place it in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Grab the square bread with light spots and put it in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread into the medium-sized breadbasket using the right arm",
+    "Pick the square bread with light spots and drop it in the medium-sized breadbasket",
+    "Use the right arm to pick the soft bread with golden edges and place in the medium-sized breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and put it in the beige breadbasket.",
+    "Place the spongy golden brown bread into the breadbasket with ridged texture using the right arm",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with ridged texture",
+    "Use the right arm to pick the square bread with light spots and place in the beige breadbasket.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the beige breadbasket.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and place it in the beige breadbasket.",
+    "Grab the square bread with light spots and put it in the medium-sized breadbasket.",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the right arm",
+    "Pick the spongy golden brown bread and drop it in the beige breadbasket",
+    "Use the right arm to pick the soft bread with golden edges and place in the beige breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the breadbasket with ridged texture.",
+    "Use one arm to grab the square bread with light spots, drop in the beige breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and put it in the medium-sized breadbasket.",
+    "Place the square bread with light spots into the breadbasket with ridged texture using the right arm",
+    "Pick the square bread with light spots and drop it in the medium-sized breadbasket",
+    "Use the right arm to pick the square bread with light spots and place in the breadbasket with ridged texture.",
+    "Use the right arm to pick up the soft bread with golden edges, then place it in the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Grab the square bread with light spots with one arm, place in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the right arm",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with ridged texture",
+    "Use the right arm to pick the soft bread with golden edges and place in the medium-sized breadbasket.",
+    "Use the right arm to pick up the square bread with light spots, then place it in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket."
+  ]
+}
\ No newline at end of file
diff --git a/place_bread_basket/demo_randomized/scene_info.json b/place_bread_basket/demo_randomized/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb0f783707bdaa5ecc59a8c2ba3d4d313f801d7
--- /dev/null
+++ b/place_bread_basket/demo_randomized/scene_info.json
@@ -0,0 +1,2686 @@
+{
+  "episode_0": {
+    "cluttered_table_info": [
+      {
+        "object_type": "019_coaster",
+        "object_index": "0"
+      },
+      {
+        "object_type": "bowl",
+        "object_index": "016"
+      },
+      {
+        "object_type": "pot",
+        "object_index": "009"
+      },
+      {
+        "object_type": "052_dumbbell",
+        "object_index": "0"
+      },
+      {
+        "object_type": "tape",
+        "object_index": "001"
+      },
+      {
+        "object_type": "100_seal",
+        "object_index": "6"
+      },
+      {
+        "object_type": "105_sauce-can",
+        "object_index": "4"
+      },
+      {
+        "object_type": "111_callbell",
+        "object_index": "4"
+      },
+      {
+        "object_type": "024_scanner",
+        "object_index": "2"
+      },
+      {
+        "object_type": "tape",
+        "object_index": "002"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": "seen/2962",
+      "table_texture": "seen/2516"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
+      "{B}": "075_bread/base5",
+      "{a}": "dual",
+      "{C}": "075_bread/base6"
+    }
+  },
+  "episode_1": {
+    "cluttered_table_info": [
+      {
+        "object_type": "bottle",
+        "object_index": "006"
+      },
+      {
+        "object_type": "082_smallshovel",
+        "object_index": "0"
+      },
+      {
+        "object_type": "082_smallshovel",
+        "object_index": "2"
+      },
+      {
+        "object_type": "086_woodenblock",
+        "object_index": "3"
+      },
+      {
+        "object_type": "023_tissue-box",
+        "object_index": "6"
+      },
+      {
+        "object_type": "marker",
+        "object_index": "004"
+      },
+      {
+        "object_type": "040_rack",
+        "object_index": "0"
+      },
+      {
+        "object_type": "050_bell",
+        "object_index": "0"
+      },
+      {
+        "object_type": "slipper",
+        "object_index": "031"
+      },
+      {
+        "object_type": "plate",
+        "object_index": "004"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": "seen/6949",
+      "table_texture": "seen/2727"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
+      "{B}": "075_bread/base5",
+      "{a}": "right"
+    }
+  },
+  "episode_2": {
+    "cluttered_table_info": [
+      {
+        "object_type": "thermos",
+        "object_index": "005"
+      },
+      {
+        "object_type": "049_shampoo",
+        "object_index": "3"
+      },
+      {
+        "object_type": "073_rubikscube",
+        "object_index": "0"
+      },
+      {
+        "object_type": "052_dumbbell",
+        "object_index": "4"
+      },
+      {
+        "object_type": "tape",
+        "object_index": "004"
+      },
+      {
+        "object_type": "tape",
+        "object_index": "002"
+      },
+      {
+        "object_type": "071_can",
+        "object_index": "3"
+      },
+      {
+        "object_type": "059_pencup",
+        "object_index": "1"
+      },
+      {
+        "object_type": "092_notebook",
+        "object_index": "2"
+      },
+      {
+        "object_type": "055_small-speaker",
+        "object_index": "2"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": "seen/1447",
+      "table_texture": "seen/6542"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base4",
+      "{B}": "075_bread/base1",
+      "{a}": "dual",
+      "{C}": "075_bread/base0"
+    }
+  },
+  "episode_3": {
+    "cluttered_table_info": [
+      {
+        "object_type": "048_stapler",
+        "object_index": "6"
+      },
+      {
+        "object_type": "004_fluted-block",
+        "object_index": "0"
+      },
+      {
+        "object_type": "099_fan",
+        "object_index": "6"
+      },
+      {
+        "object_type": "012_plant-pot",
+        "object_index": "2"
+      },
+      {
+        "object_type": "003_plate",
+        "object_index": "0"
+      },
+      {
+        "object_type": "018_microphone",
+        "object_index": "0"
+      },
+      {
+        "object_type": "spoon",
+        "object_index": "011"
+      },
+      {
+        "object_type": "088_wineglass",
+        "object_index": "1"
+      },
+      {
+        "object_type": "marker",
+        "object_index": "004"
+      },
+      {
+        "object_type": "snack_package",
+        "object_index": "003"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": "seen/8170",
+      "table_texture": "seen/1588"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base6",
+      "{a}": "dual",
+      "{C}": "075_bread/base0"
+    }
+  },
+  "episode_4": {
+    "cluttered_table_info": [
+      {
+        "object_type": "030_drill",
+        "object_index": "6"
+      },
+      {
+        "object_type": "109_hydrating-oil",
+        "object_index": "0"
+      },
+      {
+        "object_type": "024_scanner",
+        "object_index": "2"
+      },
+      {
+        "object_type": "093_brush-pen",
+        "object_index": "2"
+      },
+      {
+        "object_type": "002_bowl",
+        "object_index": "3"
+      },
+      {
+        "object_type": "sneaker",
+        "object_index": "007"
+      },
+      {
+        "object_type": "092_notebook",
+        "object_index": "2"
+      },
+      {
+        "object_type": "023_tissue-box",
+        "object_index": "5"
+      },
+      {
+        "object_type": "006_hamburg",
+        "object_index": "4"
+      },
+      {
+        "object_type": "071_can",
+        "object_index": "0"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": "seen/9260",
+      "table_texture": "seen/8397"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base4",
+      "{B}": "075_bread/base5",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_5": {
+    "cluttered_table_info": [
+      {
+        "object_type": "chip_can",
+        "object_index": "003"
+      },
+      {
+        "object_type": "slipper",
+        "object_index": "010"
+      },
+      {
+        "object_type": "bottle",
+        "object_index": "025"
+      },
+      {
+        "object_type": "106_skillet",
+        "object_index": "1"
+      },
+      {
+        "object_type": "notebook",
+        "object_index": "002"
+      },
+      {
+        "object_type": "050_bell",
+        "object_index": "1"
+      },
+      {
+        "object_type": "plate",
+        "object_index": "003"
+      },
+      {
+        "object_type": "086_woodenblock",
+        "object_index": "3"
+      },
+      {
+        "object_type": "068_boxdrink",
+        "object_index": "2"
+      },
+      {
+        "object_type": "114_bottle",
+        "object_index": "1"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": "seen/6015",
+      "table_texture": "seen/8583"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base0",
+      "{B}": "075_bread/base1",
+      "{a}": "dual",
+      "{C}": "075_bread/base5"
+    }
+  },
+  "episode_6": {
+    "cluttered_table_info": [
+      {
+        "object_type": "095_glue",
+        "object_index": "1"
+      },
+      {
+        "object_type": "marker",
+        "object_index": "002"
+      },
+      {
+        "object_type": "toy_car",
+        "object_index": "001"
+      },
+      {
+        "object_type": "040_rack",
+        "object_index": "0"
+      },
+      {
+        "object_type": "052_dumbbell",
+        "object_index": "0"
+      },
+      {
+        "object_type": "018_microphone",
+        "object_index": "0"
+      },
+      {
+        "object_type": "hammer",
+        "object_index": "002"
+      },
+      {
+        "object_type": "notebook",
+        "object_index": "002"
+      },
+      {
+        "object_type": "bowl",
+        "object_index": "024"
+      },
+      {
+        "object_type": "063_tabletrashbin",
+        "object_index": "8"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": "seen/6287",
+      "table_texture": "seen/5469"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base1",
+      "{a}": "right"
+    }
+  },
+  "episode_7": {
+    "cluttered_table_info": [
+      {
+        "object_type": "sneaker",
+        "object_index": "005"
+      },
+      {
+        "object_type": "114_bottle",
+        "object_index": "2"
+      },
+      {
+        "object_type": "079_remotecontrol",
+        "object_index": "3"
+      },
+      {
+        "object_type": "thermos",
+        "object_index": "005"
+      },
+      {
+        "object_type": "030_drill",
+        "object_index": "6"
+      },
+      {
+        "object_type": "107_soap",
+        "object_index": "1"
+      },
+      {
+        "object_type": "019_coaster",
+        "object_index": "0"
+      },
+      {
+        "object_type": "045_sand-clock",
+        "object_index": "3"
+      },
+      {
+        "object_type": "019_coaster",
+        "object_index": "0"
+      },
+      {
+        "object_type": "113_coffee-box",
+        "object_index": "2"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": "seen/956",
+      "table_texture": "seen/8430"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base6",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_8": {
+    "cluttered_table_info": [
+      {
+        "object_type": "chip_can",
+        "object_index": "007"
+      },
+      {
+        "object_type": "072_electronicscale",
+        "object_index": "5"
+      },
+      {
+        "object_type": "089_globe",
+        "object_index": "2"
+      },
+      {
+        "object_type": "080_pillbottle",
+        "object_index": "4"
+      },
+      {
+        "object_type": "080_pillbottle",
+        "object_index": "4"
+      },
+      {
+        "object_type": "092_notebook",
+        "object_index": "1"
+      },
+      {
+        "object_type": "003_plate",
+        "object_index": "0"
+      },
+      {
+        "object_type": "090_trophy",
+        "object_index": "0"
+      },
+      {
+        "object_type": "047_mouse",
+        "object_index": "0"
+      },
+      {
+        "object_type": "plate",
+        "object_index": "004"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": null,
+      "table_texture": "seen/4452"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base3",
+      "{a}": "dual",
+      "{C}": "075_bread/base3"
+    }
+  },
+  "episode_9": {
+    "cluttered_table_info": [
+      {
+        "object_type": "wallet",
+        "object_index": "017"
+      },
+      {
+        "object_type": "sneaker",
+        "object_index": "002"
+      },
+      {
+        "object_type": "marker",
+        "object_index": "004"
+      },
+      {
+        "object_type": "092_notebook",
+        "object_index": "2"
+      },
+      {
+        "object_type": "045_sand-clock",
+        "object_index": "3"
+      },
+      {
+        "object_type": "112_tea-box",
+        "object_index": "3"
+      },
+      {
+        "object_type": "063_tabletrashbin",
+        "object_index": "10"
+      },
+      {
+        "object_type": "drinkbox",
+        "object_index": "003"
+      },
+      {
+        "object_type": "113_coffee-box",
+        "object_index": "6"
+      },
+      {
+        "object_type": "050_bell",
+        "object_index": "1"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": "seen/8332",
+      "table_texture": "seen/1255"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base2",
+      "{B}": "075_bread/base5",
+      "{a}": "right"
+    }
+  },
+  "episode_10": {
+    "cluttered_table_info": [
+      {
+        "object_type": "095_glue",
+        "object_index": "2"
+      },
+      {
+        "object_type": "ramen_box",
+        "object_index": "015"
+      },
+      {
+        "object_type": "101_milk-tea",
+        "object_index": "4"
+      },
+      {
+        "object_type": "111_callbell",
+        "object_index": "5"
+      },
+      {
+        "object_type": "snack_box",
+        "object_index": "034"
+      },
+      {
+        "object_type": "052_dumbbell",
+        "object_index": "6"
+      },
+      {
+        "object_type": "sneaker",
+        "object_index": "002"
+      },
+      {
+        "object_type": "006_hamburg",
+        "object_index": "3"
+      },
+      {
+        "object_type": "045_sand-clock",
+        "object_index": "0"
+      },
+      {
+        "object_type": "pot",
+        "object_index": "006"
+      }
+    ],
+    "texture_info": {
+      "wall_texture": "seen/1128",
+      "table_texture": "seen/3276"
+    },
+    "info": {
+      "{A}": "076_breadbasket/base1",
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