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diff --git a/open_laptop/demo_clean/instructions/episode0.json b/open_laptop/demo_clean/instructions/episode0.json
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@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the silver laptop with foldable parts to expose the screen",
+    "Pull the smooth textured laptop open with the left arm.",
+    "Raise the lid of the laptop with wood panel background.",
+    "Raise the silver laptop using the left arm.",
+    "Pull the laptop with wood panel background upward lightly.",
+    "Use the left arm to raise the silver laptop with black keyboard.",
+    "Lift the smooth textured laptop to open it up",
+    "Raise the black screen laptop's top section.",
+    "With the left arm, open the silver laptop's lid.",
+    "Pull the lid of the keyboard laptop upward.",
+    "Lift the metal laptop slightly.",
+    "Use the left arm to open the black screen laptop",
+    "Use the left arm to open the medium foldable silver laptop.",
+    "Open the silver laptop by lifting its lid.",
+    "Fully lift the black screen laptop using the left arm.",
+    "Slide the black and silver laptop open with the left arm.",
+    "Lift the silver laptop with foldable parts lid completely.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Open the laptop with wood panel background carefully with the left arm.",
+    "Lift the black and silver laptop's lid using the left arm.",
+    "Lift and open the black screen laptop.",
+    "Gently open the laptop with wood panel background.",
+    "Grip and lift the silver laptop with foldable parts's lid.",
+    "Pull the screen of the laptop with black textured screen.",
+    "Open the smooth textured laptop entirely.",
+    "Lift the silver laptop open with the left arm.",
+    "Raise the top of the silver laptop with foldable parts",
+    "Use the left arm to lift the medium foldable silver laptop",
+    "Gently lift the laptop with wood panel background using the left arm",
+    "Gently open the laptop with black textured screen upward.",
+    "Pull up the lid of the black and silver laptop",
+    "Fully open the the silver laptop.",
+    "Use the left arm to raise the silver laptop with black keyboard.",
+    "Raise the laptop with wood panel background using the left arm firmly.",
+    "Use the left arm to open the medium foldable silver laptop.",
+    "Use the left arm to open the keyboard laptop.",
+    "Lift the metal laptop to open.",
+    "Raise the laptop with wood panel background using the left arm.",
+    "Pull open the laptop with wood panel background",
+    "Raise and open the laptop with wood panel background.",
+    "Pull the smooth textured laptop's lid upward.",
+    "Use the left arm to raise the wood surrounded laptop.",
+    "Open the wood surrounded laptop lifting with the left arm",
+    "Raise the smooth textured laptop lid with the left arm.",
+    "Gently raise the metal laptop using the left arm.",
+    "Push the smooth textured laptop's lid upward using the left arm.",
+    "Open the silver laptop with black keyboard completely.",
+    "Carefully open the silver laptop using the left arm",
+    "Raise the wood surrounded laptop lid using the left arm.",
+    "Lift the keyboard laptop's lid upwards.",
+    "Raise the silver laptop with foldable parts to expose the screen",
+    "Pull the smooth textured laptop open with the left arm.",
+    "Raise the lid of the metal laptop.",
+    "Raise the smooth textured laptop using the left arm.",
+    "Pull the keyboard laptop upward lightly.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Lift the laptop with black textured screen to open it up",
+    "Raise the smooth textured laptop's top section.",
+    "With the left arm, open the laptop with black textured screen's lid.",
+    "Pull the lid of the wood surrounded laptop upward.",
+    "Lift the metal laptop slightly.",
+    "Use the left arm to open the metal laptop",
+    "Use the left arm to open the smooth textured laptop.",
+    "Open the black screen laptop by lifting its lid.",
+    "Fully lift the black screen laptop using the left arm.",
+    "Slide the wood surrounded laptop open with the left arm.",
+    "Lift the smooth textured laptop lid completely.",
+    "Hold the wood surrounded laptop steady, lift lid.",
+    "Open the black and silver laptop carefully with the left arm.",
+    "Lift the medium foldable silver laptop's lid using the left arm.",
+    "Lift and open the wood surrounded laptop.",
+    "Gently open the smooth textured laptop.",
+    "Grip and lift the silver laptop with black keyboard's lid.",
+    "Pull the screen of the keyboard laptop.",
+    "Open the silver laptop with black keyboard entirely.",
+    "Lift the black and silver laptop open with the left arm.",
+    "Raise the top of the medium foldable silver laptop",
+    "Use the left arm to lift the metal laptop",
+    "Gently lift the medium foldable silver laptop using the left arm",
+    "Gently open the black and silver laptop upward.",
+    "Pull up the lid of the metal laptop",
+    "Fully open the the medium foldable silver laptop.",
+    "Use the left arm to raise the keyboard laptop.",
+    "Raise the smooth textured laptop using the left arm firmly.",
+    "Use the left arm to open the metal laptop.",
+    "Use the left arm to open the silver laptop with foldable parts.",
+    "Lift the medium foldable silver laptop to open.",
+    "Raise the laptop with black textured screen using the left arm.",
+    "Pull open the black and silver laptop",
+    "Raise and open the black and silver laptop.",
+    "Pull the silver laptop with foldable parts's lid upward.",
+    "Use the left arm to raise the black screen laptop.",
+    "Open the black screen laptop lifting with the left arm",
+    "Raise the silver laptop lid with the left arm.",
+    "Gently raise the wood surrounded laptop using the left arm.",
+    "Push the metal laptop's lid upward using the left arm.",
+    "Open the silver laptop with foldable parts completely.",
+    "Carefully open the silver laptop with foldable parts using the left arm",
+    "Raise the medium foldable silver laptop lid using the left arm.",
+    "Lift the silver laptop's lid upwards."
+  ],
+  "unseen": [
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop with care",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop with care",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode1.json b/open_laptop/demo_clean/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..de54dfcffc3c4a9fe64ad39b05b3f6dc0014755b
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip and lift the metal laptop's lid.",
+    "Raise the smooth textured laptop using the right arm.",
+    "Open the laptop with black textured screen carefully with the right arm.",
+    "Pull the black screen laptop open with the right arm.",
+    "With the right arm, open the silver laptop with black keyboard's lid.",
+    "Pull up the lid of the black screen laptop",
+    "Use the right arm to raise the wood surrounded laptop.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Raise the metal laptop lid with the right arm.",
+    "Lift and open the black screen laptop.",
+    "Use the right arm to raise the wood surrounded laptop.",
+    "Gently lift the metal laptop using the right arm",
+    "Use the right arm to open the silver laptop.",
+    "Pull the silver laptop's lid upward.",
+    "Open the silver laptop lifting with the right arm",
+    "Push the silver laptop with foldable parts's lid upward using the right arm.",
+    "Pull the screen of the wood surrounded laptop.",
+    "Use the right arm to open the medium foldable silver laptop.",
+    "Open the silver laptop with black keyboard entirely.",
+    "Raise the black and silver laptop's top section.",
+    "Lift the silver laptop with black keyboard lid completely.",
+    "Raise the lid of the laptop with black textured screen.",
+    "Raise the laptop with wood panel background lid using the right arm.",
+    "Gently open the laptop with wood panel background upward.",
+    "Raise the keyboard laptop using the right arm.",
+    "Pull the smooth textured laptop upward lightly.",
+    "Hold the silver laptop with black keyboard steady, lift lid.",
+    "Raise the laptop with wood panel background using the right arm firmly.",
+    "Fully lift the black screen laptop using the right arm.",
+    "Use the right arm to open the black and silver laptop",
+    "Lift the medium foldable silver laptop slightly.",
+    "Raise the black screen laptop to expose the screen",
+    "Raise the top of the laptop with wood panel background",
+    "Lift the medium foldable silver laptop's lid upwards.",
+    "Lift the wood surrounded laptop to open it up",
+    "Carefully open the metal laptop using the right arm",
+    "Lift the smooth textured laptop's lid using the right arm.",
+    "Use the right arm to open the smooth textured laptop.",
+    "Gently open the silver laptop with foldable parts.",
+    "Use the right arm to raise the smooth textured laptop.",
+    "Lift the black screen laptop open with the right arm.",
+    "Open the laptop with wood panel background completely.",
+    "Use the right arm to lift the smooth textured laptop",
+    "Fully open the the laptop with black textured screen.",
+    "Raise and open the smooth textured laptop.",
+    "Slide the silver laptop open with the right arm.",
+    "Gently raise the metal laptop using the right arm.",
+    "Pull open the silver laptop with black keyboard",
+    "Lift the silver laptop to open.",
+    "Grip and lift the keyboard laptop's lid.",
+    "Raise the wood surrounded laptop using the right arm.",
+    "Open the silver laptop with black keyboard carefully with the right arm.",
+    "Pull the metal laptop open with the right arm.",
+    "With the right arm, open the silver laptop with black keyboard's lid.",
+    "Pull up the lid of the silver laptop",
+    "Use the right arm to raise the medium foldable silver laptop.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Open the smooth textured laptop by lifting its lid.",
+    "Raise the black and silver laptop lid with the right arm.",
+    "Lift and open the silver laptop with foldable parts.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Gently lift the silver laptop with black keyboard using the right arm",
+    "Use the right arm to open the wood surrounded laptop.",
+    "Pull the smooth textured laptop's lid upward.",
+    "Open the black and silver laptop lifting with the right arm",
+    "Push the laptop with black textured screen's lid upward using the right arm.",
+    "Pull the screen of the laptop with black textured screen.",
+    "Use the right arm to open the metal laptop.",
+    "Open the medium foldable silver laptop entirely.",
+    "Raise the black screen laptop's top section.",
+    "Lift the metal laptop lid completely.",
+    "Raise the lid of the keyboard laptop.",
+    "Raise the black screen laptop lid using the right arm.",
+    "Gently open the metal laptop upward.",
+    "Raise the keyboard laptop using the right arm.",
+    "Pull the metal laptop upward lightly.",
+    "Hold the silver laptop with foldable parts steady, lift lid.",
+    "Raise the laptop with black textured screen using the right arm firmly.",
+    "Fully lift the silver laptop with foldable parts using the right arm.",
+    "Use the right arm to open the medium foldable silver laptop",
+    "Lift the laptop with wood panel background slightly.",
+    "Raise the laptop with black textured screen to expose the screen",
+    "Raise the top of the silver laptop with foldable parts",
+    "Lift the smooth textured laptop's lid upwards.",
+    "Lift the laptop with wood panel background to open it up",
+    "Carefully open the wood surrounded laptop using the right arm",
+    "Lift the laptop with black textured screen's lid using the right arm.",
+    "Use the right arm to open the smooth textured laptop.",
+    "Gently open the wood surrounded laptop.",
+    "Use the right arm to raise the keyboard laptop.",
+    "Lift the silver laptop with black keyboard open with the right arm.",
+    "Open the medium foldable silver laptop completely.",
+    "Use the right arm to lift the silver laptop",
+    "Fully open the the silver laptop with black keyboard.",
+    "Raise and open the silver laptop with foldable parts.",
+    "Slide the laptop with black textured screen open with the right arm.",
+    "Gently raise the black and silver laptop using the right arm.",
+    "Pull open the laptop with wood panel background",
+    "Lift the medium foldable silver laptop to open."
+  ],
+  "unseen": [
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Pull up the laptop with glossy black display's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode10.json b/open_laptop/demo_clean/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..749b6d9ed5c39bc2f7f38d2f7d5b2523ebb5ca86
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to raise the black laptop.",
+    "Raise and open the black and silver portable laptop.",
+    "Open the rectangular laptop with smooth texture entirely.",
+    "Pull open the black laptop with smooth body",
+    "Pull the black and silver portable laptop's lid upward.",
+    "Hold the laptop with shiny black surface steady, lift lid.",
+    "Pull the clamshell laptop with flat screen upward lightly.",
+    "Raise the black and silver portable laptop to expose the screen",
+    "Slide the clamshell laptop with flat screen open with the right arm.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Lift the laptop with silver buttons on keyboard's lid upwards.",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Pull the screen of the black and silver portable laptop.",
+    "Gently open the black laptop with smooth body.",
+    "Raise the rectangular laptop with smooth texture using the right arm.",
+    "Fully lift the laptop with silver buttons on keyboard using the right arm.",
+    "Use the right arm to open the rectangular laptop with folding hinge",
+    "Pull the black and silver portable laptop open with the right arm.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "With the right arm, open the clamshell laptop with flat screen's lid.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Open the laptop with shiny black surface carefully with the right arm.",
+    "Open the clamshell laptop with flat screen by lifting its lid.",
+    "Gently open the rectangular laptop with smooth texture upward.",
+    "Open the rectangular laptop with folding hinge completely.",
+    "Lift the laptop with wide black lid open with the right arm.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Use the right arm to lift the laptop with rectangular display screen",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Raise the lid of the black and silver portable laptop.",
+    "Fully open the the laptop with rectangular display screen.",
+    "Carefully open the clamshell laptop with flat screen using the right arm",
+    "Pull the lid of the black and silver portable laptop upward.",
+    "Gently lift the black laptop with smooth body using the right arm",
+    "Lift the laptop with wide black lid lid completely.",
+    "Pull up the lid of the laptop with silver buttons on keyboard",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Lift the rectangular laptop with smooth texture slightly.",
+    "Lift the clamshell laptop with flat screen's lid using the right arm.",
+    "Raise the clamshell laptop with flat screen lid using the right arm.",
+    "Open the black laptop lifting with the right arm",
+    "Gently raise the laptop with silver buttons on keyboard using the right arm.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Lift the laptop with rectangular display screen to open.",
+    "Lift the black and silver portable laptop to open it up",
+    "Raise the top of the rectangular laptop with smooth texture",
+    "Raise the rectangular laptop with smooth texture's top section.",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Raise and open the laptop featuring built-in keyboard.",
+    "Open the laptop with silver keyboard entirely.",
+    "Pull open the laptop with rectangular display screen",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Hold the rectangular laptop with folding hinge steady, lift lid.",
+    "Pull the rectangular laptop with folding hinge upward lightly.",
+    "Raise the rectangular laptop with folding hinge to expose the screen",
+    "Slide the rectangular laptop with smooth texture open with the right arm.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Lift the black and silver portable laptop's lid upwards.",
+    "Use the right arm to open the laptop with silver buttons on keyboard.",
+    "Pull the screen of the rectangular laptop with folding hinge.",
+    "Gently open the laptop with silver keyboard.",
+    "Raise the laptop with silver buttons on keyboard using the right arm.",
+    "Fully lift the black laptop with smooth body using the right arm.",
+    "Use the right arm to open the black and silver portable laptop",
+    "Pull the laptop featuring built-in keyboard open with the right arm.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "With the right arm, open the laptop with wide black lid's lid.",
+    "Grip and lift the black and silver portable laptop's lid.",
+    "Open the laptop featuring built-in keyboard carefully with the right arm.",
+    "Open the laptop with shiny black surface by lifting its lid.",
+    "Gently open the rectangular laptop with folding hinge upward.",
+    "Open the black laptop with smooth body completely.",
+    "Lift the clamshell laptop with flat screen open with the right arm.",
+    "Push the laptop with rectangular display screen's lid upward using the right arm.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Use the right arm to lift the black laptop",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Raise the lid of the laptop featuring built-in keyboard.",
+    "Fully open the the clamshell laptop with flat screen.",
+    "Carefully open the rectangular laptop with smooth texture using the right arm",
+    "Pull the lid of the laptop with wide black lid upward.",
+    "Gently lift the laptop with wide black lid using the right arm",
+    "Lift the black laptop with smooth body lid completely.",
+    "Pull up the lid of the black laptop with smooth body",
+    "Raise the laptop with silver buttons on keyboard using the right arm firmly.",
+    "Lift the laptop with rectangular display screen slightly.",
+    "Lift the rectangular laptop with folding hinge's lid using the right arm.",
+    "Raise the rectangular laptop with smooth texture lid using the right arm.",
+    "Open the laptop with shiny black surface lifting with the right arm",
+    "Gently raise the laptop with silver buttons on keyboard using the right arm.",
+    "Lift and open the laptop with rectangular display screen.",
+    "Raise the laptop with silver buttons on keyboard using the right arm.",
+    "Lift the black laptop with smooth body to open.",
+    "Lift the laptop with wide black lid to open it up",
+    "Raise the top of the laptop with shiny black surface",
+    "Raise the laptop with rectangular display screen's top section.",
+    "Raise the clamshell laptop with flat screen lid with the right arm."
+  ],
+  "unseen": [
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode11.json b/open_laptop/demo_clean/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..910a7a985c1af6a72c844edbefb4264d4db0d5de
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull up the lid of the laptop featuring textured exterior",
+    "Lift the lightweight laptop lid completely.",
+    "Grip and lift the sleek laptop design's lid.",
+    "With the right arm, open the black laptop with red accents's lid.",
+    "Raise the laptop featuring textured exterior using the right arm.",
+    "Raise the lid of the laptop with screen and keyboard.",
+    "Raise the lightweight laptop using the right arm.",
+    "Gently lift the compact black laptop using the right arm",
+    "Lift the black laptop to open.",
+    "Pull the laptop featuring textured exterior's lid upward.",
+    "Use the right arm to raise the lightweight laptop.",
+    "Raise the sleek laptop design to expose the screen",
+    "Lift the black metallic laptop slightly.",
+    "Lift the medium-sized laptop with black body's lid using the right arm.",
+    "Open the hinged laptop with screen and base entirely.",
+    "Lift and open the sleek laptop design.",
+    "Hold the hinged laptop with screen and base steady, lift lid.",
+    "Open the foldable laptop with patterned keyboard lifting with the right arm",
+    "Use the right arm to open the black laptop.",
+    "Slide the laptop featuring textured exterior open with the right arm.",
+    "Carefully open the sleek laptop design using the right arm",
+    "Gently open the foldable laptop with patterned keyboard upward.",
+    "Lift the hinged laptop with screen and base open with the right arm.",
+    "Raise and open the hinged laptop with screen and base.",
+    "Open the black metallic laptop by lifting its lid.",
+    "Pull the compact black laptop upward lightly.",
+    "Pull the lid of the black laptop with red accents upward.",
+    "Raise the laptop with screen and keyboard's top section.",
+    "Lift the laptop with screen and keyboard's lid upwards.",
+    "Fully open the the black laptop with red accents.",
+    "Lift the laptop featuring textured exterior to open it up",
+    "Gently open the black metallic laptop.",
+    "Pull open the lightweight laptop",
+    "Open the laptop with red logo underside carefully with the right arm.",
+    "Use the right arm to raise the compact black laptop.",
+    "Use the right arm to lift the laptop with screen and keyboard",
+    "Use the right arm to open the lightweight laptop.",
+    "Raise the top of the hinged laptop with screen and base",
+    "Raise the laptop featuring textured exterior lid using the right arm.",
+    "Gently raise the laptop with screen and keyboard using the right arm.",
+    "Use the right arm to open the black laptop.",
+    "Pull the foldable laptop with patterned keyboard open with the right arm.",
+    "Use the right arm to open the medium-sized laptop with black body",
+    "Raise the lightweight laptop lid with the right arm.",
+    "Fully lift the laptop featuring textured exterior using the right arm.",
+    "Raise the sleek laptop design using the right arm firmly.",
+    "Push the foldable laptop with patterned keyboard's lid upward using the right arm.",
+    "Use the right arm to raise the laptop featuring textured exterior.",
+    "Open the foldable laptop with patterned keyboard completely.",
+    "Pull the screen of the laptop with screen and keyboard.",
+    "Pull up the lid of the black laptop",
+    "Lift the laptop featuring textured exterior lid completely.",
+    "Grip and lift the black laptop with red accents's lid.",
+    "With the right arm, open the laptop with red logo underside's lid.",
+    "Raise the sleek laptop design using the right arm.",
+    "Raise the lid of the laptop featuring textured exterior.",
+    "Raise the medium-sized laptop with black body using the right arm.",
+    "Gently lift the sleek laptop design using the right arm",
+    "Lift the lightweight laptop to open.",
+    "Pull the medium-sized laptop with black body's lid upward.",
+    "Use the right arm to raise the foldable laptop with patterned keyboard.",
+    "Raise the black metallic laptop to expose the screen",
+    "Lift the foldable laptop with patterned keyboard slightly.",
+    "Lift the lightweight laptop's lid using the right arm.",
+    "Open the compact black laptop entirely.",
+    "Lift and open the black metallic laptop.",
+    "Hold the black metallic laptop steady, lift lid.",
+    "Open the foldable laptop with patterned keyboard lifting with the right arm",
+    "Use the right arm to open the foldable laptop with patterned keyboard.",
+    "Slide the laptop with red logo underside open with the right arm.",
+    "Carefully open the medium-sized laptop with black body using the right arm",
+    "Gently open the black metallic laptop upward.",
+    "Lift the laptop featuring textured exterior open with the right arm.",
+    "Raise and open the laptop with red logo underside.",
+    "Open the laptop with screen and keyboard by lifting its lid.",
+    "Pull the laptop with red logo underside upward lightly.",
+    "Pull the lid of the black metallic laptop upward.",
+    "Raise the black metallic laptop's top section.",
+    "Lift the hinged laptop with screen and base's lid upwards.",
+    "Fully open the the hinged laptop with screen and base.",
+    "Lift the black metallic laptop to open it up",
+    "Gently open the foldable laptop with patterned keyboard.",
+    "Pull open the black metallic laptop",
+    "Open the foldable laptop with patterned keyboard carefully with the right arm.",
+    "Use the right arm to raise the black laptop with red accents.",
+    "Use the right arm to lift the black laptop with red accents",
+    "Use the right arm to open the sleek laptop design.",
+    "Raise the top of the foldable laptop with patterned keyboard",
+    "Raise the sleek laptop design lid using the right arm.",
+    "Gently raise the sleek laptop design using the right arm.",
+    "Use the right arm to open the compact black laptop.",
+    "Pull the sleek laptop design open with the right arm.",
+    "Use the right arm to open the black laptop",
+    "Raise the black laptop lid with the right arm.",
+    "Fully lift the compact black laptop using the right arm.",
+    "Raise the foldable laptop with patterned keyboard using the right arm firmly.",
+    "Push the black laptop's lid upward using the right arm.",
+    "Use the right arm to raise the medium-sized laptop with black body.",
+    "Open the black laptop completely.",
+    "Pull the screen of the laptop featuring textured exterior."
+  ],
+  "unseen": [
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the portable laptop carefully using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the right arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the portable laptop using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop carefully using the right arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Pull up the portable laptop's lid.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop carefully using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the right arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Lift the portable laptop using the right arm.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Pull up the rectangular laptop with smooth finish's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode12.json b/open_laptop/demo_clean/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba01cf4b039b209dd16fa5961a78b191f09d733
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to open the laptop with wide black lid.",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Gently lift the black laptop using the right arm",
+    "Hold the laptop featuring built-in keyboard steady, lift lid.",
+    "Fully lift the black laptop using the right arm.",
+    "Raise the top of the clamshell laptop with flat screen",
+    "Pull the lid of the black laptop upward.",
+    "Open the rectangular laptop with smooth texture lifting with the right arm",
+    "Carefully open the laptop with shiny black surface using the right arm",
+    "Gently open the laptop featuring built-in keyboard.",
+    "Lift the black laptop's lid upwards.",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Pull the laptop with shiny black surface open with the right arm.",
+    "Raise the black laptop's top section.",
+    "Raise the black laptop using the right arm.",
+    "Pull up the lid of the clamshell laptop with flat screen",
+    "Raise the lid of the laptop with silver buttons on keyboard.",
+    "Lift the laptop with wide black lid's lid using the right arm.",
+    "Raise the black laptop using the right arm.",
+    "Raise the laptop with shiny black surface using the right arm firmly.",
+    "Open the laptop with silver buttons on keyboard entirely.",
+    "Pull the laptop with rectangular display screen's lid upward.",
+    "Fully open the the clamshell laptop with flat screen.",
+    "Pull the screen of the laptop with silver buttons on keyboard.",
+    "Pull open the black laptop with smooth body",
+    "Slide the clamshell laptop with flat screen open with the right arm.",
+    "Open the laptop with rectangular display screen completely.",
+    "Raise the laptop with rectangular display screen lid using the right arm.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Lift the laptop with wide black lid to open it up",
+    "Pull the black laptop upward lightly.",
+    "With the right arm, open the rectangular laptop with folding hinge's lid.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Lift the black laptop lid completely.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Raise the laptop featuring built-in keyboard to expose the screen",
+    "Gently raise the laptop featuring built-in keyboard using the right arm.",
+    "Use the right arm to open the rectangular laptop with folding hinge",
+    "Open the black and silver portable laptop by lifting its lid.",
+    "Grip and lift the rectangular laptop with smooth texture's lid.",
+    "Raise the black laptop with smooth body lid with the right arm.",
+    "Use the right arm to lift the rectangular laptop with folding hinge",
+    "Open the clamshell laptop with flat screen carefully with the right arm.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Lift the rectangular laptop with smooth texture to open.",
+    "Raise and open the laptop with silver keyboard.",
+    "Push the laptop with silver buttons on keyboard's lid upward using the right arm.",
+    "Gently open the rectangular laptop with smooth texture upward.",
+    "Lift the laptop with silver keyboard slightly.",
+    "Use the right arm to raise the black laptop.",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Use the right arm to raise the black laptop with smooth body.",
+    "Gently lift the clamshell laptop with flat screen using the right arm",
+    "Hold the black laptop steady, lift lid.",
+    "Fully lift the laptop with wide black lid using the right arm.",
+    "Raise the top of the laptop with wide black lid",
+    "Pull the lid of the black laptop with smooth body upward.",
+    "Open the clamshell laptop with flat screen lifting with the right arm",
+    "Carefully open the rectangular laptop with smooth texture using the right arm",
+    "Gently open the laptop with silver keyboard.",
+    "Lift the clamshell laptop with flat screen's lid upwards.",
+    "Lift the laptop with shiny black surface open with the right arm.",
+    "Pull the rectangular laptop with smooth texture open with the right arm.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Pull up the lid of the laptop with silver buttons on keyboard",
+    "Raise the lid of the laptop with wide black lid.",
+    "Lift the rectangular laptop with folding hinge's lid using the right arm.",
+    "Raise the laptop with rectangular display screen using the right arm.",
+    "Raise the laptop featuring built-in keyboard using the right arm firmly.",
+    "Open the rectangular laptop with smooth texture entirely.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Fully open the the black laptop with smooth body.",
+    "Pull the screen of the clamshell laptop with flat screen.",
+    "Pull open the laptop with shiny black surface",
+    "Slide the black laptop with smooth body open with the right arm.",
+    "Open the laptop with silver buttons on keyboard completely.",
+    "Raise the black laptop lid using the right arm.",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Pull the laptop with wide black lid upward lightly.",
+    "With the right arm, open the rectangular laptop with smooth texture's lid.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Lift the clamshell laptop with flat screen lid completely.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Raise the laptop with rectangular display screen to expose the screen",
+    "Gently raise the black laptop using the right arm.",
+    "Use the right arm to open the clamshell laptop with flat screen",
+    "Open the laptop with silver buttons on keyboard by lifting its lid.",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Raise the laptop with rectangular display screen lid with the right arm.",
+    "Use the right arm to lift the laptop with silver keyboard",
+    "Open the laptop with rectangular display screen carefully with the right arm.",
+    "Lift and open the laptop with silver keyboard.",
+    "Lift the clamshell laptop with flat screen to open.",
+    "Raise and open the laptop with silver keyboard.",
+    "Push the laptop with wide black lid's lid upward using the right arm.",
+    "Gently open the laptop with shiny black surface upward.",
+    "Lift the laptop with silver buttons on keyboard slightly.",
+    "Use the right arm to raise the laptop featuring built-in keyboard."
+  ],
+  "unseen": [
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the medium laptop with black case's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode13.json b/open_laptop/demo_clean/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..838ba0e0553b63a496801f8b93b2bf8abf4d8ff8
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the smooth textured laptop",
+    "Open the medium foldable silver laptop by lifting its lid.",
+    "Slide the smooth textured laptop open with the left arm.",
+    "Hold the silver laptop with foldable parts steady, lift lid.",
+    "Fully open the the silver laptop with black keyboard.",
+    "Use the left arm to open the silver laptop with black keyboard.",
+    "Pull the black screen laptop open with the left arm.",
+    "Raise the smooth textured laptop to expose the screen",
+    "Use the left arm to open the medium foldable silver laptop.",
+    "Fully lift the wood surrounded laptop using the left arm.",
+    "Raise the black and silver laptop lid with the left arm.",
+    "Lift the keyboard laptop's lid upwards.",
+    "Lift the medium foldable silver laptop lid completely.",
+    "Lift the wood surrounded laptop slightly.",
+    "Raise the smooth textured laptop using the left arm.",
+    "Raise the wood surrounded laptop lid using the left arm.",
+    "Gently raise the black screen laptop using the left arm.",
+    "Lift and open the wood surrounded laptop.",
+    "Carefully open the metal laptop using the left arm",
+    "Use the left arm to raise the metal laptop.",
+    "Gently open the silver laptop with foldable parts.",
+    "Pull the lid of the silver laptop with foldable parts upward.",
+    "Grip and lift the laptop with black textured screen's lid.",
+    "Raise the top of the silver laptop with black keyboard",
+    "Pull the screen of the keyboard laptop.",
+    "Pull the keyboard laptop's lid upward.",
+    "Raise the wood surrounded laptop using the left arm.",
+    "Lift the keyboard laptop to open.",
+    "Lift the silver laptop to open it up",
+    "Raise the lid of the black screen laptop.",
+    "With the left arm, open the silver laptop with foldable parts's lid.",
+    "Raise the silver laptop with black keyboard's top section.",
+    "Open the keyboard laptop lifting with the left arm",
+    "Use the left arm to lift the laptop with black textured screen",
+    "Use the left arm to open the keyboard laptop",
+    "Open the silver laptop entirely.",
+    "Use the left arm to raise the keyboard laptop.",
+    "Lift the laptop with black textured screen's lid using the left arm.",
+    "Raise and open the keyboard laptop.",
+    "Raise the keyboard laptop using the left arm firmly.",
+    "Use the left arm to raise the black screen laptop.",
+    "Pull the metal laptop upward lightly.",
+    "Use the left arm to open the laptop with wood panel background.",
+    "Lift the metal laptop open with the left arm.",
+    "Open the black screen laptop completely.",
+    "Gently lift the silver laptop with foldable parts using the left arm",
+    "Pull up the lid of the keyboard laptop",
+    "Push the laptop with wood panel background's lid upward using the left arm.",
+    "Gently open the metal laptop upward.",
+    "Open the silver laptop with black keyboard carefully with the left arm.",
+    "Pull open the black and silver laptop",
+    "Open the smooth textured laptop by lifting its lid.",
+    "Slide the smooth textured laptop open with the left arm.",
+    "Hold the laptop with wood panel background steady, lift lid.",
+    "Fully open the the medium foldable silver laptop.",
+    "Use the left arm to open the black and silver laptop.",
+    "Pull the laptop with wood panel background open with the left arm.",
+    "Raise the laptop with wood panel background to expose the screen",
+    "Use the left arm to open the laptop with black textured screen.",
+    "Fully lift the metal laptop using the left arm.",
+    "Raise the silver laptop with black keyboard lid with the left arm.",
+    "Lift the smooth textured laptop's lid upwards.",
+    "Lift the laptop with wood panel background lid completely.",
+    "Lift the wood surrounded laptop slightly.",
+    "Raise the silver laptop with black keyboard using the left arm.",
+    "Raise the laptop with black textured screen lid using the left arm.",
+    "Gently raise the silver laptop using the left arm.",
+    "Lift and open the silver laptop with foldable parts.",
+    "Carefully open the metal laptop using the left arm",
+    "Use the left arm to raise the black screen laptop.",
+    "Gently open the medium foldable silver laptop.",
+    "Pull the lid of the keyboard laptop upward.",
+    "Grip and lift the smooth textured laptop's lid.",
+    "Raise the top of the silver laptop",
+    "Pull the screen of the laptop with wood panel background.",
+    "Pull the medium foldable silver laptop's lid upward.",
+    "Raise the silver laptop using the left arm.",
+    "Lift the metal laptop to open.",
+    "Lift the black and silver laptop to open it up",
+    "Raise the lid of the medium foldable silver laptop.",
+    "With the left arm, open the black screen laptop's lid.",
+    "Raise the laptop with wood panel background's top section.",
+    "Open the medium foldable silver laptop lifting with the left arm",
+    "Use the left arm to lift the medium foldable silver laptop",
+    "Use the left arm to open the silver laptop with foldable parts",
+    "Open the laptop with wood panel background entirely.",
+    "Use the left arm to raise the silver laptop.",
+    "Lift the keyboard laptop's lid using the left arm.",
+    "Raise and open the metal laptop.",
+    "Raise the silver laptop using the left arm firmly.",
+    "Use the left arm to raise the metal laptop.",
+    "Pull the laptop with black textured screen upward lightly.",
+    "Use the left arm to open the laptop with wood panel background.",
+    "Lift the black screen laptop open with the left arm.",
+    "Open the keyboard laptop completely.",
+    "Gently lift the keyboard laptop using the left arm",
+    "Pull up the lid of the laptop with wood panel background",
+    "Push the black screen laptop's lid upward using the left arm.",
+    "Gently open the silver laptop with foldable parts upward.",
+    "Open the black screen laptop carefully with the left arm."
+  ],
+  "unseen": [
+    "Open the foldable laptop using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with care"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode14.json b/open_laptop/demo_clean/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cda2defcd0d978845d1918e6251031b2cea81bf
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to open the laptop with silver buttons on keyboard",
+    "Open the laptop with shiny black surface by lifting its lid.",
+    "Lift the laptop with shiny black surface lid completely.",
+    "Lift and open the black laptop with smooth body.",
+    "Raise the laptop with wide black lid lid using the right arm.",
+    "With the right arm, open the laptop featuring built-in keyboard's lid.",
+    "Raise the rectangular laptop with folding hinge using the right arm.",
+    "Lift the black laptop with smooth body to open it up",
+    "Grip and lift the black laptop's lid.",
+    "Slide the laptop with wide black lid open with the right arm.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Open the laptop with shiny black surface completely.",
+    "Lift the laptop with shiny black surface slightly.",
+    "Lift the rectangular laptop with smooth texture's lid upwards.",
+    "Open the laptop with rectangular display screen entirely.",
+    "Pull open the laptop featuring built-in keyboard",
+    "Use the right arm to open the rectangular laptop with smooth texture.",
+    "Pull the black laptop's lid upward.",
+    "Raise the laptop with shiny black surface's top section.",
+    "Lift the laptop with rectangular display screen open with the right arm.",
+    "Open the laptop with shiny black surface carefully with the right arm.",
+    "Hold the clamshell laptop with flat screen steady, lift lid.",
+    "Gently lift the rectangular laptop with smooth texture using the right arm",
+    "Raise the top of the black laptop",
+    "Raise the laptop with shiny black surface lid with the right arm.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Open the laptop with silver keyboard lifting with the right arm",
+    "Fully open the the clamshell laptop with flat screen.",
+    "Raise and open the laptop with silver keyboard.",
+    "Pull the laptop with silver keyboard upward lightly.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Gently open the black laptop upward.",
+    "Pull the black laptop with smooth body open with the right arm.",
+    "Carefully open the black laptop using the right arm",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Raise the rectangular laptop with smooth texture using the right arm.",
+    "Use the right arm to lift the laptop with shiny black surface",
+    "Gently raise the rectangular laptop with folding hinge using the right arm.",
+    "Push the laptop with rectangular display screen's lid upward using the right arm.",
+    "Pull the screen of the laptop with rectangular display screen.",
+    "Lift the laptop featuring built-in keyboard to open.",
+    "Use the right arm to open the black and silver portable laptop.",
+    "Lift the rectangular laptop with folding hinge's lid using the right arm.",
+    "Raise the black laptop to expose the screen",
+    "Raise the clamshell laptop with flat screen using the right arm firmly.",
+    "Raise the lid of the laptop with wide black lid.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Gently open the black and silver portable laptop.",
+    "Pull up the lid of the laptop with wide black lid",
+    "Pull the lid of the laptop with rectangular display screen upward.",
+    "Use the right arm to open the rectangular laptop with folding hinge",
+    "Open the laptop with silver buttons on keyboard by lifting its lid.",
+    "Lift the laptop with shiny black surface lid completely.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Raise the rectangular laptop with folding hinge lid using the right arm.",
+    "With the right arm, open the clamshell laptop with flat screen's lid.",
+    "Raise the laptop with silver buttons on keyboard using the right arm.",
+    "Lift the laptop with silver keyboard to open it up",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Slide the rectangular laptop with folding hinge open with the right arm.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Open the laptop featuring built-in keyboard completely.",
+    "Lift the laptop featuring built-in keyboard slightly.",
+    "Lift the rectangular laptop with smooth texture's lid upwards.",
+    "Open the laptop with silver keyboard entirely.",
+    "Pull open the rectangular laptop with smooth texture",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Pull the laptop with rectangular display screen's lid upward.",
+    "Raise the rectangular laptop with folding hinge's top section.",
+    "Lift the clamshell laptop with flat screen open with the right arm.",
+    "Open the rectangular laptop with folding hinge carefully with the right arm.",
+    "Hold the black laptop steady, lift lid.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Raise the top of the black and silver portable laptop",
+    "Raise the laptop with silver buttons on keyboard lid with the right arm.",
+    "Use the right arm to open the black laptop with smooth body.",
+    "Open the black laptop lifting with the right arm",
+    "Fully open the the laptop with shiny black surface.",
+    "Raise and open the laptop with shiny black surface.",
+    "Pull the clamshell laptop with flat screen upward lightly.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Pull the laptop with rectangular display screen open with the right arm.",
+    "Carefully open the laptop with shiny black surface using the right arm",
+    "Fully lift the laptop featuring built-in keyboard using the right arm.",
+    "Raise the laptop with wide black lid using the right arm.",
+    "Use the right arm to lift the rectangular laptop with folding hinge",
+    "Gently raise the laptop with wide black lid using the right arm.",
+    "Push the laptop with wide black lid's lid upward using the right arm.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Lift the rectangular laptop with folding hinge to open.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Lift the laptop featuring built-in keyboard's lid using the right arm.",
+    "Raise the laptop with shiny black surface to expose the screen",
+    "Raise the laptop featuring built-in keyboard using the right arm firmly.",
+    "Raise the lid of the black laptop.",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Gently open the clamshell laptop with flat screen.",
+    "Pull up the lid of the black laptop with smooth body",
+    "Pull the lid of the black laptop upward."
+  ],
+  "unseen": [
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the medium laptop with black case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode15.json b/open_laptop/demo_clean/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0dfa1e5bff64e6b3aa7034e339470092bdf9817
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, open the black laptop with smooth body's lid.",
+    "Lift the laptop with wide black lid's lid upwards.",
+    "Gently open the black laptop upward.",
+    "Grip and lift the laptop with rectangular display screen's lid.",
+    "Raise the top of the laptop with silver buttons on keyboard",
+    "Use the left arm to open the clamshell laptop with flat screen.",
+    "Raise the black and silver portable laptop using the left arm.",
+    "Fully open the the laptop with silver keyboard.",
+    "Use the left arm to open the black laptop.",
+    "Raise and open the black laptop with smooth body.",
+    "Use the left arm to raise the rectangular laptop with smooth texture.",
+    "Pull the screen of the rectangular laptop with smooth texture.",
+    "Hold the laptop with rectangular display screen steady, lift lid.",
+    "Gently lift the black laptop using the left arm",
+    "Pull open the laptop with silver keyboard",
+    "Lift the black laptop's lid using the left arm.",
+    "Lift the laptop featuring built-in keyboard open with the left arm.",
+    "Open the rectangular laptop with folding hinge entirely.",
+    "Use the left arm to open the rectangular laptop with smooth texture",
+    "Pull the lid of the black laptop upward.",
+    "Push the laptop with rectangular display screen's lid upward using the left arm.",
+    "Lift the laptop with silver buttons on keyboard to open it up",
+    "Carefully open the black and silver portable laptop using the left arm",
+    "Use the left arm to raise the black laptop.",
+    "Fully lift the black and silver portable laptop using the left arm.",
+    "Lift the laptop featuring built-in keyboard to open.",
+    "Raise the black laptop with smooth body using the left arm.",
+    "Lift the laptop featuring built-in keyboard slightly.",
+    "Use the left arm to lift the laptop with rectangular display screen",
+    "Raise the lid of the laptop with silver keyboard.",
+    "Gently raise the laptop with silver buttons on keyboard using the left arm.",
+    "Gently open the rectangular laptop with folding hinge.",
+    "Raise the laptop with rectangular display screen using the left arm firmly.",
+    "Pull the rectangular laptop with smooth texture open with the left arm.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Raise the laptop featuring built-in keyboard lid using the left arm.",
+    "Slide the laptop with silver buttons on keyboard open with the left arm.",
+    "Pull the black and silver portable laptop upward lightly.",
+    "Open the laptop with shiny black surface carefully with the left arm.",
+    "Open the black laptop completely.",
+    "Raise the laptop with wide black lid to expose the screen",
+    "Open the clamshell laptop with flat screen lifting with the left arm",
+    "Raise the black and silver portable laptop lid with the left arm.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Open the rectangular laptop with folding hinge by lifting its lid.",
+    "Raise the laptop with wide black lid's top section.",
+    "Pull the rectangular laptop with folding hinge's lid upward.",
+    "Use the left arm to open the rectangular laptop with smooth texture.",
+    "Use the left arm to raise the clamshell laptop with flat screen.",
+    "Lift the rectangular laptop with smooth texture lid completely.",
+    "With the left arm, open the laptop featuring built-in keyboard's lid.",
+    "Lift the rectangular laptop with folding hinge's lid upwards.",
+    "Gently open the laptop featuring built-in keyboard upward.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Raise the top of the laptop with silver buttons on keyboard",
+    "Use the left arm to open the laptop with wide black lid.",
+    "Raise the rectangular laptop with smooth texture using the left arm.",
+    "Fully open the the laptop with silver keyboard.",
+    "Use the left arm to open the clamshell laptop with flat screen.",
+    "Raise and open the laptop featuring built-in keyboard.",
+    "Use the left arm to raise the black laptop with smooth body.",
+    "Pull the screen of the laptop with silver buttons on keyboard.",
+    "Hold the rectangular laptop with folding hinge steady, lift lid.",
+    "Gently lift the laptop with rectangular display screen using the left arm",
+    "Pull open the clamshell laptop with flat screen",
+    "Lift the rectangular laptop with folding hinge's lid using the left arm.",
+    "Lift the laptop featuring built-in keyboard open with the left arm.",
+    "Open the laptop with rectangular display screen entirely.",
+    "Use the left arm to open the laptop featuring built-in keyboard",
+    "Pull the lid of the laptop featuring built-in keyboard upward.",
+    "Push the laptop with rectangular display screen's lid upward using the left arm.",
+    "Lift the rectangular laptop with folding hinge to open it up",
+    "Carefully open the laptop with rectangular display screen using the left arm",
+    "Use the left arm to raise the laptop featuring built-in keyboard.",
+    "Fully lift the laptop with rectangular display screen using the left arm.",
+    "Lift the clamshell laptop with flat screen to open.",
+    "Raise the black laptop with smooth body using the left arm.",
+    "Lift the laptop featuring built-in keyboard slightly.",
+    "Use the left arm to lift the laptop with shiny black surface",
+    "Raise the lid of the black and silver portable laptop.",
+    "Gently raise the black laptop using the left arm.",
+    "Gently open the laptop with shiny black surface.",
+    "Raise the clamshell laptop with flat screen using the left arm firmly.",
+    "Pull the laptop with silver keyboard open with the left arm.",
+    "Lift and open the black and silver portable laptop.",
+    "Raise the black and silver portable laptop lid using the left arm.",
+    "Slide the laptop with rectangular display screen open with the left arm.",
+    "Pull the black laptop upward lightly.",
+    "Open the laptop with silver buttons on keyboard carefully with the left arm.",
+    "Open the black laptop with smooth body completely.",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Open the laptop featuring built-in keyboard lifting with the left arm",
+    "Raise the laptop with rectangular display screen lid with the left arm.",
+    "Pull up the lid of the laptop with wide black lid",
+    "Open the laptop with shiny black surface by lifting its lid.",
+    "Raise the laptop with shiny black surface's top section.",
+    "Pull the clamshell laptop with flat screen's lid upward.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Lift the rectangular laptop with smooth texture lid completely."
+  ],
+  "unseen": [
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case using the left arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode16.json b/open_laptop/demo_clean/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb0a15cb5f5cf9725067e46d028a10ded7b8a93c
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue-screen laptop with flat keys lid completely.",
+    "Use the left arm to raise the black plastic laptop with blue display.",
+    "Open the laptop with rectangular base entirely.",
+    "Pull the lid of the screen and keyboard laptop upward.",
+    "Push the black laptop's lid upward using the left arm.",
+    "Raise the portable folding laptop's top section.",
+    "Use the left arm to open the laptop with blue screen.",
+    "Fully lift the folding laptop with black exterior using the left arm.",
+    "Carefully open the portable folding laptop using the left arm",
+    "Pull the black laptop open with the left arm.",
+    "Slide the laptop with blue screen open with the left arm.",
+    "Grip and lift the screen and keyboard laptop's lid.",
+    "Use the left arm to open the laptop with rectangular base.",
+    "Raise the laptop with rectangular base lid using the left arm.",
+    "Gently lift the laptop with rectangular base using the left arm",
+    "Open the laptop with blue screen completely.",
+    "Hold the laptop with smooth keyboard area steady, lift lid.",
+    "Use the left arm to raise the laptop with smooth keyboard area.",
+    "Use the left arm to open the rectangular black laptop.",
+    "Open the black plastic laptop with blue display lifting with the left arm",
+    "Gently open the sleek black laptop with blue monitor.",
+    "With the left arm, open the laptop with rectangular base's lid.",
+    "Lift the laptop with blue screen slightly.",
+    "Raise the laptop with rectangular base lid with the left arm.",
+    "Pull the screen of the black plastic laptop with blue display.",
+    "Pull open the laptop with rectangular base",
+    "Raise the screen and keyboard laptop to expose the screen",
+    "Lift the laptop with rectangular base to open it up",
+    "Lift the laptop with rectangular base open with the left arm.",
+    "Raise the black laptop using the left arm.",
+    "Use the left arm to open the laptop with smooth matte surface",
+    "Lift and open the laptop with blue screen.",
+    "Raise the lid of the rectangular black laptop.",
+    "Pull the black plastic laptop with blue display upward lightly.",
+    "Lift the blue-screen laptop with flat keys's lid upwards.",
+    "Use the left arm to lift the screen and keyboard laptop",
+    "Open the folding laptop with black exterior by lifting its lid.",
+    "Fully open the the black laptop.",
+    "Raise the folding laptop with black exterior using the left arm.",
+    "Raise and open the laptop with smooth matte surface.",
+    "Lift the sleek black laptop with blue monitor to open.",
+    "Pull up the lid of the folding laptop with black exterior",
+    "Lift the laptop with rectangular base's lid using the left arm.",
+    "Raise the top of the laptop with smooth matte surface",
+    "Pull the portable folding laptop's lid upward.",
+    "Use the left arm to raise the portable folding laptop.",
+    "Gently raise the rectangular black laptop using the left arm.",
+    "Gently open the black laptop upward.",
+    "Open the rectangular black laptop carefully with the left arm.",
+    "Raise the laptop with smooth matte surface using the left arm firmly.",
+    "Lift the laptop with smooth keyboard area lid completely.",
+    "Use the left arm to raise the rectangular black laptop.",
+    "Open the laptop with smooth keyboard area entirely.",
+    "Pull the lid of the laptop with smooth keyboard area upward.",
+    "Push the laptop with rectangular base's lid upward using the left arm.",
+    "Raise the laptop with rectangular base's top section.",
+    "Use the left arm to open the screen and keyboard laptop.",
+    "Fully lift the portable folding laptop using the left arm.",
+    "Carefully open the laptop with blue screen using the left arm",
+    "Pull the folding laptop with black exterior open with the left arm.",
+    "Slide the sleek black laptop with blue monitor open with the left arm.",
+    "Grip and lift the sleek black laptop with blue monitor's lid.",
+    "Use the left arm to open the laptop with smooth matte surface.",
+    "Raise the laptop with smooth matte surface lid using the left arm.",
+    "Gently lift the laptop with smooth keyboard area using the left arm",
+    "Open the blue-screen laptop with flat keys completely.",
+    "Hold the black plastic laptop with blue display steady, lift lid.",
+    "Use the left arm to raise the rectangular black laptop.",
+    "Use the left arm to open the laptop with smooth matte surface.",
+    "Open the sleek black laptop with blue monitor lifting with the left arm",
+    "Gently open the portable folding laptop.",
+    "With the left arm, open the folding laptop with black exterior's lid.",
+    "Lift the laptop with smooth matte surface slightly.",
+    "Raise the laptop with blue screen lid with the left arm.",
+    "Pull the screen of the laptop with blue screen.",
+    "Pull open the laptop with blue screen",
+    "Raise the laptop with smooth matte surface to expose the screen",
+    "Lift the sleek black laptop with blue monitor to open it up",
+    "Lift the black plastic laptop with blue display open with the left arm.",
+    "Raise the laptop with smooth matte surface using the left arm.",
+    "Use the left arm to open the sleek black laptop with blue monitor",
+    "Lift and open the black laptop.",
+    "Raise the lid of the black plastic laptop with blue display.",
+    "Pull the screen and keyboard laptop upward lightly.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Use the left arm to lift the folding laptop with black exterior",
+    "Open the black plastic laptop with blue display by lifting its lid.",
+    "Fully open the the laptop with smooth matte surface.",
+    "Raise the black laptop using the left arm.",
+    "Raise and open the laptop with smooth matte surface.",
+    "Lift the laptop with blue screen to open.",
+    "Pull up the lid of the laptop with smooth keyboard area",
+    "Lift the black laptop's lid using the left arm.",
+    "Raise the top of the folding laptop with black exterior",
+    "Pull the laptop with smooth matte surface's lid upward.",
+    "Use the left arm to raise the laptop with blue screen.",
+    "Gently raise the screen and keyboard laptop using the left arm.",
+    "Gently open the rectangular black laptop upward.",
+    "Open the black plastic laptop with blue display carefully with the left arm.",
+    "Raise the black laptop using the left arm firmly."
+  ],
+  "unseen": [
+    "Lift the medium-sized black laptop's lid fully.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Lift the black laptop with compact design using the left arm",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the black laptop with compact design with care",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the black laptop with compact design using the left arm.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with compact design with one motion.",
+    "Open the medium-sized black laptop with care",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the black laptop with compact design using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with compact design with one motion.",
+    "Open the black laptop with compact design with care",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the black laptop with compact design using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the black laptop with compact design with care",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Lift the black laptop with compact design using the left arm",
+    "Grab the black laptop with compact design and open it.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the medium-sized black laptop with care",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Grab the black laptop with compact design and open it.",
+    "Open the black laptop with compact design using the left arm.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the black laptop with compact design with care",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Grab the black laptop with compact design and open it.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the medium-sized black laptop with one motion.",
+    "Open the black laptop with compact design with care",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Grab the black laptop with compact design and open it.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the medium-sized black laptop with one motion.",
+    "Open the black laptop with shiny hinges with care",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Open the black laptop with shiny hinges with care",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Lift the black laptop with compact design using the left arm",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the black laptop with compact design with one motion.",
+    "Open the black laptop with shiny hinges with care",
+    "Pull up the black laptop with compact design's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode17.json b/open_laptop/demo_clean/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f5961c2f671e4b36987628314ea10afcb305770
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the slim laptop's lid upwards.",
+    "Pull open the slim laptop",
+    "Grip and lift the metal laptop with black keys's lid.",
+    "Raise the metal laptop with black keys's top section.",
+    "Pull the laptop with foldable screen design open with the right arm.",
+    "Open the silver laptop with dark keys entirely.",
+    "Raise the laptop with metallic finish using the right arm.",
+    "Lift the compact silver laptop open with the right arm.",
+    "Gently open the laptop with metallic finish upward.",
+    "Use the right arm to open the portable slim laptop",
+    "Hold the compact silver laptop steady, lift lid.",
+    "Raise the rectangular laptop with screen lid using the right arm.",
+    "Raise the lightweight silver laptop using the right arm.",
+    "Pull the silver laptop with dark keys's lid upward.",
+    "Open the laptop with black keyboard carefully with the right arm.",
+    "Fully lift the medium-sized silver laptop using the right arm.",
+    "Raise the lid of the laptop with metallic finish.",
+    "Use the right arm to raise the laptop with smooth surface.",
+    "Gently lift the silver laptop with dark keys using the right arm",
+    "Use the right arm to raise the compact silver laptop.",
+    "Open the compact silver laptop lifting with the right arm",
+    "Gently open the laptop with black keyboard.",
+    "Use the right arm to open the lightweight silver laptop.",
+    "Lift the laptop with foldable screen design to open it up",
+    "Raise and open the laptop with black keyboard.",
+    "Pull the screen of the portable slim laptop.",
+    "Open the compact silver laptop by lifting its lid.",
+    "With the right arm, open the medium-sized silver laptop's lid.",
+    "Raise the laptop with foldable screen design using the right arm firmly.",
+    "Slide the metal laptop with black keys open with the right arm.",
+    "Use the right arm to raise the lightweight silver laptop.",
+    "Raise the lightweight silver laptop to expose the screen",
+    "Use the right arm to open the laptop with foldable screen design.",
+    "Pull the laptop with foldable screen design upward lightly.",
+    "Open the laptop with foldable screen design completely.",
+    "Raise the top of the laptop with foldable screen design",
+    "Fully open the the lightweight silver laptop.",
+    "Pull the lid of the rectangular laptop with screen upward.",
+    "Lift the slim laptop lid completely.",
+    "Use the right arm to lift the portable slim laptop",
+    "Raise the lightweight silver laptop lid with the right arm.",
+    "Lift and open the laptop with foldable screen design.",
+    "Carefully open the silver laptop with dark keys using the right arm",
+    "Lift the portable slim laptop slightly.",
+    "Pull up the lid of the rectangular laptop with screen",
+    "Lift the metal laptop with black keys's lid using the right arm.",
+    "Gently raise the medium-sized silver laptop using the right arm.",
+    "Push the silver laptop with dark keys's lid upward using the right arm.",
+    "Lift the laptop with smooth surface to open.",
+    "Use the right arm to open the medium-sized silver laptop.",
+    "Lift the rectangular laptop with screen's lid upwards.",
+    "Pull open the compact silver laptop",
+    "Grip and lift the laptop with black keyboard's lid.",
+    "Raise the laptop with foldable screen design's top section.",
+    "Pull the metal laptop with black keys open with the right arm.",
+    "Open the laptop with metallic finish entirely.",
+    "Raise the medium-sized silver laptop using the right arm.",
+    "Lift the portable slim laptop open with the right arm.",
+    "Gently open the metal laptop with black keys upward.",
+    "Use the right arm to open the metal laptop with black keys",
+    "Hold the laptop with smooth surface steady, lift lid.",
+    "Raise the metal laptop with black keys lid using the right arm.",
+    "Raise the slim laptop using the right arm.",
+    "Pull the silver laptop with dark keys's lid upward.",
+    "Open the rectangular laptop with screen carefully with the right arm.",
+    "Fully lift the silver laptop with dark keys using the right arm.",
+    "Raise the lid of the lightweight silver laptop.",
+    "Use the right arm to raise the laptop with foldable screen design.",
+    "Gently lift the silver laptop with dark keys using the right arm",
+    "Use the right arm to raise the metal laptop with black keys.",
+    "Open the silver laptop with dark keys lifting with the right arm",
+    "Gently open the medium-sized silver laptop.",
+    "Use the right arm to open the slim laptop.",
+    "Lift the laptop with metallic finish to open it up",
+    "Raise and open the medium-sized silver laptop.",
+    "Pull the screen of the silver laptop with dark keys.",
+    "Open the silver laptop with dark keys by lifting its lid.",
+    "With the right arm, open the laptop with black keyboard's lid.",
+    "Raise the compact silver laptop using the right arm firmly.",
+    "Slide the compact silver laptop open with the right arm.",
+    "Use the right arm to raise the lightweight silver laptop.",
+    "Raise the lightweight silver laptop to expose the screen",
+    "Use the right arm to open the slim laptop.",
+    "Pull the laptop with smooth surface upward lightly.",
+    "Open the laptop with black keyboard completely.",
+    "Raise the top of the lightweight silver laptop",
+    "Fully open the the laptop with foldable screen design.",
+    "Pull the lid of the portable slim laptop upward.",
+    "Lift the silver laptop with dark keys lid completely.",
+    "Use the right arm to lift the silver laptop with dark keys",
+    "Raise the silver laptop with dark keys lid with the right arm.",
+    "Lift and open the slim laptop.",
+    "Carefully open the laptop with black keyboard using the right arm",
+    "Lift the silver laptop with dark keys slightly.",
+    "Pull up the lid of the portable slim laptop",
+    "Lift the slim laptop's lid using the right arm.",
+    "Gently raise the laptop with metallic finish using the right arm.",
+    "Push the lightweight silver laptop's lid upward using the right arm.",
+    "Lift the laptop with smooth surface to open.",
+    "Use the right arm to open the rectangular laptop with screen."
+  ],
+  "unseen": [
+    "Lift the foldable laptop using the right arm",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Open the foldable laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Open the foldable laptop with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the silver laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the silver laptop using the right arm",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the silver laptop using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Open the silver laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the silver laptop using the right arm.",
+    "Open the foldable laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop using the right arm",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the silver laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the silver laptop using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop using the right arm",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the silver laptop using the right arm.",
+    "Open the foldable laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the silver laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the foldable laptop's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode18.json b/open_laptop/demo_clean/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..b43e95523b4c834d21c7e75044690245583f324a
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently lift the foldable black laptop using the left arm",
+    "Fully lift the Toshiba laptop with rectangular screen using the left arm.",
+    "Pull the black laptop with red text underneath upward lightly.",
+    "Gently raise the Toshiba laptop using the left arm.",
+    "Open the portable folding Toshiba laptop completely.",
+    "Pull up the lid of the sleek black Toshiba computing laptop",
+    "Raise the medium black rectangular laptop lid using the left arm.",
+    "Raise the top of the black laptop with smooth matte surface",
+    "Lift the black laptop with red text underneath to open.",
+    "Grip and lift the medium black rectangular laptop's lid.",
+    "Raise the black laptop with red text underneath to expose the screen",
+    "Use the left arm to lift the black laptop with smooth matte surface",
+    "Lift the black laptop to open it up",
+    "Pull the black laptop with smooth matte surface's lid upward.",
+    "Raise the Toshiba laptop with rectangular screen using the left arm.",
+    "Lift the Toshiba laptop with rectangular screen's lid using the left arm.",
+    "Open the black laptop with hinge mechanism lifting with the left arm",
+    "Raise the black laptop with hinge mechanism's top section.",
+    "Raise the black laptop with hinge mechanism using the left arm.",
+    "Use the left arm to raise the Toshiba laptop with rectangular screen.",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "Open the Toshiba laptop entirely.",
+    "Carefully open the black laptop using the left arm",
+    "Lift the Toshiba laptop with rectangular screen's lid upwards.",
+    "Open the Toshiba laptop carefully with the left arm.",
+    "Open the Toshiba laptop by lifting its lid.",
+    "Raise the foldable black laptop using the left arm firmly.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Use the left arm to open the medium black rectangular laptop.",
+    "Raise the black laptop lid with the left arm.",
+    "Pull the lid of the black laptop with red Toshiba logo upward.",
+    "Lift and open the black laptop.",
+    "Use the left arm to raise the black laptop with hinge mechanism.",
+    "With the left arm, open the black laptop with red text underneath's lid.",
+    "Slide the black laptop with red text underneath open with the left arm.",
+    "Lift the black laptop with red text underneath lid completely.",
+    "Use the left arm to raise the black laptop with hinge mechanism.",
+    "Push the black laptop with red Toshiba logo's lid upward using the left arm.",
+    "Pull the black laptop open with the left arm.",
+    "Lift the foldable black laptop open with the left arm.",
+    "Raise the lid of the black laptop with hinge mechanism.",
+    "Use the left arm to open the medium black rectangular laptop.",
+    "Pull the screen of the Toshiba laptop with rectangular screen.",
+    "Pull open the portable folding Toshiba laptop",
+    "Gently open the black laptop with red Toshiba logo.",
+    "Fully open the the black laptop with red Toshiba logo.",
+    "Raise and open the portable folding Toshiba laptop.",
+    "Hold the black laptop with smooth matte surface steady, lift lid.",
+    "Lift the black laptop slightly.",
+    "Use the left arm to open the folding laptop with screen and keyboard",
+    "Gently lift the medium black rectangular laptop using the left arm",
+    "Fully lift the foldable black laptop using the left arm.",
+    "Pull the black laptop with red Toshiba logo upward lightly.",
+    "Gently raise the foldable black laptop using the left arm.",
+    "Open the black laptop with red text underneath completely.",
+    "Pull up the lid of the Toshiba laptop",
+    "Raise the portable folding Toshiba laptop lid using the left arm.",
+    "Raise the top of the black laptop with hinge mechanism",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Grip and lift the black laptop's lid.",
+    "Raise the black laptop with hinge mechanism to expose the screen",
+    "Use the left arm to lift the folding laptop with screen and keyboard",
+    "Lift the Toshiba laptop to open it up",
+    "Pull the portable folding Toshiba laptop's lid upward.",
+    "Raise the Toshiba laptop using the left arm.",
+    "Lift the Toshiba laptop's lid using the left arm.",
+    "Open the black laptop lifting with the left arm",
+    "Raise the black laptop's top section.",
+    "Raise the black laptop with red text underneath using the left arm.",
+    "Use the left arm to raise the Toshiba laptop.",
+    "Use the left arm to open the black laptop with hinge mechanism.",
+    "Open the black laptop with red text underneath entirely.",
+    "Carefully open the medium black rectangular laptop using the left arm",
+    "Lift the portable folding Toshiba laptop's lid upwards.",
+    "Open the folding laptop with screen and keyboard carefully with the left arm.",
+    "Open the foldable black laptop by lifting its lid.",
+    "Raise the portable folding Toshiba laptop using the left arm firmly.",
+    "Gently open the black laptop upward.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Raise the foldable black laptop lid with the left arm.",
+    "Pull the lid of the medium black rectangular laptop upward.",
+    "Lift and open the black laptop with red Toshiba logo.",
+    "Use the left arm to raise the foldable black laptop.",
+    "With the left arm, open the sleek black Toshiba computing laptop's lid.",
+    "Slide the sleek black Toshiba computing laptop open with the left arm.",
+    "Lift the black laptop with smooth matte surface lid completely.",
+    "Use the left arm to raise the sleek black Toshiba computing laptop.",
+    "Push the medium black rectangular laptop's lid upward using the left arm.",
+    "Pull the black laptop open with the left arm.",
+    "Lift the black laptop with smooth matte surface open with the left arm.",
+    "Raise the lid of the black laptop with red Toshiba logo.",
+    "Use the left arm to open the sleek black Toshiba computing laptop.",
+    "Pull the screen of the black laptop with red text underneath.",
+    "Pull open the black laptop",
+    "Gently open the Toshiba laptop with rectangular screen.",
+    "Fully open the the Toshiba laptop with rectangular screen.",
+    "Raise and open the portable folding Toshiba laptop.",
+    "Hold the black laptop with red text underneath steady, lift lid.",
+    "Lift the black laptop with smooth matte surface slightly.",
+    "Use the left arm to open the foldable black laptop"
+  ],
+  "unseen": [
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop slightly rounded at edges with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode19.json b/open_laptop/demo_clean/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..b096eb02b067b2a6ca13154b79742352634ee61f
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the compact black laptop open with the left arm.",
+    "Gently raise the sleek laptop design using the left arm.",
+    "Raise the foldable laptop with patterned keyboard lid with the left arm.",
+    "Lift the laptop with screen and keyboard to open.",
+    "With the left arm, open the sleek laptop design's lid.",
+    "Lift the hinged laptop with screen and base slightly.",
+    "Pull the black laptop with red accents open with the left arm.",
+    "Pull open the black laptop",
+    "Hold the hinged laptop with screen and base steady, lift lid.",
+    "Raise the lightweight laptop using the left arm.",
+    "Raise the lid of the laptop with screen and keyboard.",
+    "Push the black metallic laptop's lid upward using the left arm.",
+    "Fully open the the black laptop with red accents.",
+    "Open the black laptop with red accents by lifting its lid.",
+    "Pull the screen of the medium-sized laptop with black body.",
+    "Open the laptop with red logo underside lifting with the left arm",
+    "Raise and open the lightweight laptop.",
+    "Fully lift the lightweight laptop using the left arm.",
+    "Grip and lift the laptop with red logo underside's lid.",
+    "Raise the laptop with screen and keyboard using the left arm.",
+    "Lift the compact black laptop to open it up",
+    "Lift the hinged laptop with screen and base lid completely.",
+    "Raise the black laptop using the left arm firmly.",
+    "Use the left arm to open the compact black laptop",
+    "Pull the foldable laptop with patterned keyboard upward lightly.",
+    "Lift the laptop featuring textured exterior's lid upwards.",
+    "Use the left arm to open the sleek laptop design.",
+    "Lift the hinged laptop with screen and base open with the left arm.",
+    "Pull the lid of the black metallic laptop upward.",
+    "Lift the medium-sized laptop with black body's lid using the left arm.",
+    "Use the left arm to open the medium-sized laptop with black body.",
+    "Use the left arm to raise the black laptop.",
+    "Use the left arm to lift the laptop with red logo underside",
+    "Open the black metallic laptop entirely.",
+    "Use the left arm to raise the black laptop with red accents.",
+    "Use the left arm to open the black laptop with red accents.",
+    "Carefully open the black metallic laptop using the left arm",
+    "Pull the black laptop's lid upward.",
+    "Use the left arm to raise the black laptop with red accents.",
+    "Raise the laptop featuring textured exterior lid using the left arm.",
+    "Raise the black laptop's top section.",
+    "Gently open the black metallic laptop.",
+    "Raise the compact black laptop to expose the screen",
+    "Open the laptop featuring textured exterior carefully with the left arm.",
+    "Gently lift the laptop with red logo underside using the left arm",
+    "Gently open the laptop with screen and keyboard upward.",
+    "Raise the top of the laptop with red logo underside",
+    "Open the hinged laptop with screen and base completely.",
+    "Lift and open the sleek laptop design.",
+    "Pull up the lid of the laptop with red logo underside",
+    "Slide the hinged laptop with screen and base open with the left arm.",
+    "Gently raise the foldable laptop with patterned keyboard using the left arm.",
+    "Raise the foldable laptop with patterned keyboard lid with the left arm.",
+    "Lift the laptop with screen and keyboard to open.",
+    "With the left arm, open the black laptop's lid.",
+    "Lift the black laptop slightly.",
+    "Pull the laptop with screen and keyboard open with the left arm.",
+    "Pull open the sleek laptop design",
+    "Hold the black laptop with red accents steady, lift lid.",
+    "Raise the compact black laptop using the left arm.",
+    "Raise the lid of the laptop with screen and keyboard.",
+    "Push the compact black laptop's lid upward using the left arm.",
+    "Fully open the the black metallic laptop.",
+    "Open the medium-sized laptop with black body by lifting its lid.",
+    "Pull the screen of the foldable laptop with patterned keyboard.",
+    "Open the hinged laptop with screen and base lifting with the left arm",
+    "Raise and open the laptop with red logo underside.",
+    "Fully lift the compact black laptop using the left arm.",
+    "Grip and lift the laptop featuring textured exterior's lid.",
+    "Raise the laptop with red logo underside using the left arm.",
+    "Lift the black laptop to open it up",
+    "Lift the foldable laptop with patterned keyboard lid completely.",
+    "Raise the hinged laptop with screen and base using the left arm firmly.",
+    "Use the left arm to open the black laptop with red accents",
+    "Pull the medium-sized laptop with black body upward lightly.",
+    "Lift the black metallic laptop's lid upwards.",
+    "Use the left arm to open the laptop featuring textured exterior.",
+    "Lift the black laptop open with the left arm.",
+    "Pull the lid of the laptop featuring textured exterior upward.",
+    "Lift the black metallic laptop's lid using the left arm.",
+    "Use the left arm to open the medium-sized laptop with black body.",
+    "Use the left arm to raise the compact black laptop.",
+    "Use the left arm to lift the lightweight laptop",
+    "Open the compact black laptop entirely.",
+    "Use the left arm to raise the medium-sized laptop with black body.",
+    "Use the left arm to open the black metallic laptop.",
+    "Carefully open the hinged laptop with screen and base using the left arm",
+    "Pull the compact black laptop's lid upward.",
+    "Use the left arm to raise the black metallic laptop.",
+    "Raise the hinged laptop with screen and base lid using the left arm.",
+    "Raise the medium-sized laptop with black body's top section.",
+    "Gently open the laptop with screen and keyboard.",
+    "Raise the foldable laptop with patterned keyboard to expose the screen",
+    "Open the black laptop with red accents carefully with the left arm.",
+    "Gently lift the medium-sized laptop with black body using the left arm",
+    "Gently open the black laptop with red accents upward.",
+    "Raise the top of the black laptop with red accents",
+    "Open the black laptop completely.",
+    "Lift and open the laptop featuring textured exterior.",
+    "Pull up the lid of the lightweight laptop"
+  ],
+  "unseen": [
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Grab the portable laptop and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the portable laptop using the left arm.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Lift the portable laptop using the left arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the portable laptop and open it.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop with care",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the portable laptop using the left arm.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop with care",
+    "Open the portable laptop using the left arm.",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the portable laptop's lid.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the portable laptop and open it.",
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the portable laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode2.json b/open_laptop/demo_clean/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bb718761a4c707cf2a325c6394a1326e053977e
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the silver laptop with foldable parts using the right arm.",
+    "With the right arm, open the black and silver laptop's lid.",
+    "Raise the lid of the metal laptop.",
+    "Lift the metal laptop lid completely.",
+    "Gently open the silver laptop with black keyboard.",
+    "Lift the laptop with wood panel background slightly.",
+    "Pull the screen of the laptop with black textured screen.",
+    "Pull the smooth textured laptop's lid upward.",
+    "Use the right arm to open the black screen laptop.",
+    "Use the right arm to raise the laptop with black textured screen.",
+    "Open the metal laptop by lifting its lid.",
+    "Raise the silver laptop lid with the right arm.",
+    "Pull open the keyboard laptop",
+    "Raise the silver laptop with foldable parts lid using the right arm.",
+    "Open the laptop with black textured screen lifting with the right arm",
+    "Gently open the silver laptop with black keyboard upward.",
+    "Pull the smooth textured laptop upward lightly.",
+    "Fully lift the smooth textured laptop using the right arm.",
+    "Lift the silver laptop with black keyboard's lid using the right arm.",
+    "Raise the silver laptop with foldable parts using the right arm.",
+    "Use the right arm to raise the silver laptop.",
+    "Open the smooth textured laptop carefully with the right arm.",
+    "Lift the medium foldable silver laptop to open it up",
+    "Open the wood surrounded laptop entirely.",
+    "Gently lift the keyboard laptop using the right arm",
+    "Lift and open the black and silver laptop.",
+    "Push the metal laptop's lid upward using the right arm.",
+    "Raise the medium foldable silver laptop's top section.",
+    "Use the right arm to lift the silver laptop with black keyboard",
+    "Open the silver laptop with foldable parts completely.",
+    "Raise the laptop with black textured screen using the right arm firmly.",
+    "Use the right arm to open the laptop with black textured screen",
+    "Pull up the lid of the metal laptop",
+    "Use the right arm to raise the laptop with black textured screen.",
+    "Lift the smooth textured laptop to open.",
+    "Use the right arm to open the wood surrounded laptop.",
+    "Use the right arm to open the medium foldable silver laptop.",
+    "Lift the silver laptop with foldable parts's lid upwards.",
+    "Gently raise the silver laptop using the right arm.",
+    "Fully open the the black and silver laptop.",
+    "Carefully open the laptop with black textured screen using the right arm",
+    "Raise and open the metal laptop.",
+    "Raise the top of the medium foldable silver laptop",
+    "Pull the medium foldable silver laptop open with the right arm.",
+    "Lift the laptop with wood panel background open with the right arm.",
+    "Raise the black screen laptop to expose the screen",
+    "Grip and lift the wood surrounded laptop's lid.",
+    "Pull the lid of the smooth textured laptop upward.",
+    "Slide the metal laptop open with the right arm.",
+    "Hold the silver laptop with black keyboard steady, lift lid.",
+    "Raise the silver laptop using the right arm.",
+    "With the right arm, open the laptop with black textured screen's lid.",
+    "Raise the lid of the laptop with wood panel background.",
+    "Lift the wood surrounded laptop lid completely.",
+    "Gently open the wood surrounded laptop.",
+    "Lift the laptop with wood panel background slightly.",
+    "Pull the screen of the black screen laptop.",
+    "Pull the metal laptop's lid upward.",
+    "Use the right arm to open the laptop with wood panel background.",
+    "Use the right arm to raise the silver laptop with foldable parts.",
+    "Open the smooth textured laptop by lifting its lid.",
+    "Raise the silver laptop with black keyboard lid with the right arm.",
+    "Pull open the wood surrounded laptop",
+    "Raise the silver laptop with black keyboard lid using the right arm.",
+    "Open the silver laptop lifting with the right arm",
+    "Gently open the silver laptop with black keyboard upward.",
+    "Pull the silver laptop upward lightly.",
+    "Fully lift the keyboard laptop using the right arm.",
+    "Lift the silver laptop with black keyboard's lid using the right arm.",
+    "Raise the medium foldable silver laptop using the right arm.",
+    "Use the right arm to raise the keyboard laptop.",
+    "Open the silver laptop with black keyboard carefully with the right arm.",
+    "Lift the smooth textured laptop to open it up",
+    "Open the wood surrounded laptop entirely.",
+    "Gently lift the black screen laptop using the right arm",
+    "Lift and open the silver laptop with black keyboard.",
+    "Push the black and silver laptop's lid upward using the right arm.",
+    "Raise the laptop with wood panel background's top section.",
+    "Use the right arm to lift the black and silver laptop",
+    "Open the smooth textured laptop completely.",
+    "Raise the black and silver laptop using the right arm firmly.",
+    "Use the right arm to open the silver laptop with black keyboard",
+    "Pull up the lid of the silver laptop with black keyboard",
+    "Use the right arm to raise the metal laptop.",
+    "Lift the wood surrounded laptop to open.",
+    "Use the right arm to open the laptop with wood panel background.",
+    "Use the right arm to open the smooth textured laptop.",
+    "Lift the smooth textured laptop's lid upwards.",
+    "Gently raise the keyboard laptop using the right arm.",
+    "Fully open the the silver laptop.",
+    "Carefully open the silver laptop using the right arm",
+    "Raise and open the keyboard laptop.",
+    "Raise the top of the silver laptop",
+    "Pull the silver laptop with foldable parts open with the right arm.",
+    "Lift the silver laptop open with the right arm.",
+    "Raise the medium foldable silver laptop to expose the screen",
+    "Grip and lift the smooth textured laptop's lid.",
+    "Pull the lid of the laptop with wood panel background upward.",
+    "Slide the black and silver laptop open with the right arm.",
+    "Hold the medium foldable silver laptop steady, lift lid."
+  ],
+  "unseen": [
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop with care",
+    "Open the laptop with glossy black display using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display using the right arm.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode20.json b/open_laptop/demo_clean/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..88f0bf0257a53dd52d69819b41529c6e66d6921a
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully lift the laptop with black textured screen using the left arm.",
+    "With the left arm, open the smooth textured laptop's lid.",
+    "Raise the keyboard laptop to expose the screen",
+    "Pull the keyboard laptop's lid upward.",
+    "Raise the black screen laptop lid with the left arm.",
+    "Carefully open the black screen laptop using the left arm",
+    "Raise the silver laptop with black keyboard's top section.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Lift the keyboard laptop's lid using the left arm.",
+    "Pull up the lid of the wood surrounded laptop",
+    "Pull the black and silver laptop upward lightly.",
+    "Lift the silver laptop with foldable parts to open it up",
+    "Raise the silver laptop with black keyboard using the left arm firmly.",
+    "Open the metal laptop carefully with the left arm.",
+    "Use the left arm to open the black screen laptop.",
+    "Raise and open the medium foldable silver laptop.",
+    "Raise the laptop with black textured screen lid using the left arm.",
+    "Pull the silver laptop with foldable parts open with the left arm.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Use the left arm to lift the silver laptop with black keyboard",
+    "Use the left arm to raise the laptop with black textured screen.",
+    "Use the left arm to open the silver laptop with black keyboard",
+    "Pull the lid of the smooth textured laptop upward.",
+    "Lift the black and silver laptop slightly.",
+    "Lift the laptop with black textured screen open with the left arm.",
+    "Open the smooth textured laptop completely.",
+    "Use the left arm to raise the silver laptop with black keyboard.",
+    "Raise the lid of the keyboard laptop.",
+    "Lift the laptop with black textured screen to open.",
+    "Pull open the laptop with black textured screen",
+    "Slide the laptop with wood panel background open with the left arm.",
+    "Use the left arm to raise the black screen laptop.",
+    "Open the black screen laptop entirely.",
+    "Gently raise the smooth textured laptop using the left arm.",
+    "Open the metal laptop lifting with the left arm",
+    "Use the left arm to open the keyboard laptop.",
+    "Pull the screen of the laptop with black textured screen.",
+    "Lift and open the laptop with wood panel background.",
+    "Raise the top of the metal laptop",
+    "Lift the laptop with black textured screen lid completely.",
+    "Grip and lift the wood surrounded laptop's lid.",
+    "Raise the keyboard laptop using the left arm.",
+    "Hold the silver laptop with foldable parts steady, lift lid.",
+    "Open the metal laptop by lifting its lid.",
+    "Gently open the smooth textured laptop.",
+    "Fully open the the silver laptop with black keyboard.",
+    "Gently open the medium foldable silver laptop upward.",
+    "Gently lift the silver laptop using the left arm",
+    "Raise the laptop with wood panel background using the left arm.",
+    "Push the laptop with black textured screen's lid upward using the left arm.",
+    "Fully lift the wood surrounded laptop using the left arm.",
+    "With the left arm, open the silver laptop with foldable parts's lid.",
+    "Raise the laptop with black textured screen to expose the screen",
+    "Pull the black and silver laptop's lid upward.",
+    "Raise the smooth textured laptop lid with the left arm.",
+    "Carefully open the silver laptop using the left arm",
+    "Raise the black and silver laptop's top section.",
+    "Use the left arm to open the silver laptop with black keyboard.",
+    "Lift the laptop with black textured screen's lid using the left arm.",
+    "Pull up the lid of the metal laptop",
+    "Pull the laptop with wood panel background upward lightly.",
+    "Lift the metal laptop to open it up",
+    "Raise the silver laptop using the left arm firmly.",
+    "Open the black and silver laptop carefully with the left arm.",
+    "Use the left arm to open the black and silver laptop.",
+    "Raise and open the black screen laptop.",
+    "Raise the black and silver laptop lid using the left arm.",
+    "Pull the metal laptop open with the left arm.",
+    "Lift the laptop with black textured screen's lid upwards.",
+    "Use the left arm to lift the medium foldable silver laptop",
+    "Use the left arm to raise the wood surrounded laptop.",
+    "Use the left arm to open the black screen laptop",
+    "Pull the lid of the metal laptop upward.",
+    "Lift the metal laptop slightly.",
+    "Lift the keyboard laptop open with the left arm.",
+    "Open the black and silver laptop completely.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Raise the lid of the silver laptop.",
+    "Lift the smooth textured laptop to open.",
+    "Pull open the silver laptop",
+    "Slide the black and silver laptop open with the left arm.",
+    "Use the left arm to raise the medium foldable silver laptop.",
+    "Open the silver laptop entirely.",
+    "Gently raise the black screen laptop using the left arm.",
+    "Open the black screen laptop lifting with the left arm",
+    "Use the left arm to open the black screen laptop.",
+    "Pull the screen of the smooth textured laptop.",
+    "Lift and open the silver laptop.",
+    "Raise the top of the silver laptop",
+    "Lift the wood surrounded laptop lid completely.",
+    "Grip and lift the laptop with black textured screen's lid.",
+    "Raise the laptop with black textured screen using the left arm.",
+    "Hold the silver laptop with black keyboard steady, lift lid.",
+    "Open the silver laptop with black keyboard by lifting its lid.",
+    "Gently open the black and silver laptop.",
+    "Fully open the the wood surrounded laptop.",
+    "Gently open the laptop with wood panel background upward.",
+    "Gently lift the laptop with black textured screen using the left arm",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Push the medium foldable silver laptop's lid upward using the left arm."
+  ],
+  "unseen": [
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with care",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with care",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Pull up the medium laptop with silver body's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode21.json b/open_laptop/demo_clean/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..682ee24216f9566b4a93be905a71a6a191dcbfd9
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently lift the laptop with wood panel background using the left arm",
+    "Pull open the keyboard laptop",
+    "Gently open the black screen laptop upward.",
+    "Open the laptop with wood panel background carefully with the left arm.",
+    "Use the left arm to lift the silver laptop with black keyboard",
+    "Lift the silver laptop to open it up",
+    "Hold the silver laptop with black keyboard steady, lift lid.",
+    "Raise the silver laptop with foldable parts using the left arm.",
+    "Raise the laptop with black textured screen using the left arm firmly.",
+    "Lift the black and silver laptop open with the left arm.",
+    "Fully open the the silver laptop.",
+    "Use the left arm to open the metal laptop.",
+    "Carefully open the silver laptop with foldable parts using the left arm",
+    "Use the left arm to raise the metal laptop.",
+    "Raise the lid of the silver laptop.",
+    "Open the laptop with black textured screen by lifting its lid.",
+    "Open the black screen laptop lifting with the left arm",
+    "Use the left arm to open the metal laptop.",
+    "Raise the metal laptop lid with the left arm.",
+    "Raise and open the laptop with black textured screen.",
+    "Use the left arm to raise the medium foldable silver laptop.",
+    "Pull the silver laptop with foldable parts's lid upward.",
+    "Pull up the lid of the keyboard laptop",
+    "Raise the silver laptop with black keyboard lid using the left arm.",
+    "Lift the metal laptop to open.",
+    "Raise the black and silver laptop to expose the screen",
+    "Use the left arm to raise the medium foldable silver laptop.",
+    "Lift the smooth textured laptop's lid using the left arm.",
+    "Use the left arm to open the keyboard laptop.",
+    "With the left arm, open the laptop with black textured screen's lid.",
+    "Pull the medium foldable silver laptop upward lightly.",
+    "Lift the silver laptop with black keyboard slightly.",
+    "Grip and lift the smooth textured laptop's lid.",
+    "Gently open the keyboard laptop.",
+    "Pull the silver laptop with foldable parts open with the left arm.",
+    "Slide the black screen laptop open with the left arm.",
+    "Use the left arm to open the silver laptop",
+    "Fully lift the silver laptop with foldable parts using the left arm.",
+    "Raise the top of the smooth textured laptop",
+    "Raise the silver laptop with black keyboard's top section.",
+    "Gently raise the wood surrounded laptop using the left arm.",
+    "Lift the black screen laptop's lid upwards.",
+    "Lift the laptop with black textured screen lid completely.",
+    "Pull the lid of the smooth textured laptop upward.",
+    "Push the wood surrounded laptop's lid upward using the left arm.",
+    "Raise the laptop with black textured screen using the left arm.",
+    "Open the laptop with wood panel background entirely.",
+    "Open the black screen laptop completely.",
+    "Lift and open the black screen laptop.",
+    "Pull the screen of the silver laptop.",
+    "Gently lift the silver laptop using the left arm",
+    "Pull open the black and silver laptop",
+    "Gently open the smooth textured laptop upward.",
+    "Open the silver laptop with black keyboard carefully with the left arm.",
+    "Use the left arm to lift the silver laptop",
+    "Lift the silver laptop with foldable parts to open it up",
+    "Hold the keyboard laptop steady, lift lid.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Raise the black screen laptop using the left arm firmly.",
+    "Lift the medium foldable silver laptop open with the left arm.",
+    "Fully open the the laptop with black textured screen.",
+    "Use the left arm to open the smooth textured laptop.",
+    "Carefully open the metal laptop using the left arm",
+    "Use the left arm to raise the smooth textured laptop.",
+    "Raise the lid of the medium foldable silver laptop.",
+    "Open the silver laptop with foldable parts by lifting its lid.",
+    "Open the black screen laptop lifting with the left arm",
+    "Use the left arm to open the laptop with black textured screen.",
+    "Raise the smooth textured laptop lid with the left arm.",
+    "Raise and open the wood surrounded laptop.",
+    "Use the left arm to raise the metal laptop.",
+    "Pull the silver laptop with black keyboard's lid upward.",
+    "Pull up the lid of the laptop with wood panel background",
+    "Raise the keyboard laptop lid using the left arm.",
+    "Lift the silver laptop with foldable parts to open.",
+    "Raise the keyboard laptop to expose the screen",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Lift the medium foldable silver laptop's lid using the left arm.",
+    "Use the left arm to open the laptop with wood panel background.",
+    "With the left arm, open the laptop with wood panel background's lid.",
+    "Pull the medium foldable silver laptop upward lightly.",
+    "Lift the laptop with black textured screen slightly.",
+    "Grip and lift the medium foldable silver laptop's lid.",
+    "Gently open the silver laptop with foldable parts.",
+    "Pull the silver laptop open with the left arm.",
+    "Slide the black screen laptop open with the left arm.",
+    "Use the left arm to open the smooth textured laptop",
+    "Fully lift the laptop with wood panel background using the left arm.",
+    "Raise the top of the silver laptop with black keyboard",
+    "Raise the smooth textured laptop's top section.",
+    "Gently raise the smooth textured laptop using the left arm.",
+    "Lift the silver laptop with black keyboard's lid upwards.",
+    "Lift the wood surrounded laptop lid completely.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Push the keyboard laptop's lid upward using the left arm.",
+    "Raise the laptop with wood panel background using the left arm.",
+    "Open the keyboard laptop entirely.",
+    "Open the silver laptop with foldable parts completely.",
+    "Lift and open the black and silver laptop.",
+    "Pull the screen of the medium foldable silver laptop."
+  ],
+  "unseen": [
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode22.json b/open_laptop/demo_clean/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..6530e82f93b54238286e51107df5e37ad8c355d6
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the laptop for typing and computing to expose the screen",
+    "Pull the laptop with glossy screen's lid upward.",
+    "Grip and lift the laptop for typing and computing's lid.",
+    "Push the smooth laptop with Windows logo underneath's lid upward using the right arm.",
+    "Raise the lid of the laptop featuring black base and hinged screen.",
+    "Use the right arm to raise the portable black laptop with textured casing.",
+    "Lift the laptop featuring black base and hinged screen to open it up",
+    "Lift and open the medium-sized black portable laptop.",
+    "Lift the black laptop with visible hinge open with the right arm.",
+    "Pull the lid of the smooth laptop with Windows logo underneath upward.",
+    "Raise the medium-sized black portable laptop using the right arm firmly.",
+    "Open the medium-sized black portable laptop lifting with the right arm",
+    "Gently lift the laptop with glossy screen using the right arm",
+    "Use the right arm to open the laptop for typing and computing.",
+    "Gently open the black laptop upward.",
+    "Raise the laptop for typing and computing's top section.",
+    "Open the black laptop with visible hinge completely.",
+    "Use the right arm to open the laptop for typing and computing.",
+    "Lift the black laptop to open.",
+    "Use the right arm to open the laptop with flat black keyboard",
+    "Fully lift the black laptop with metallic edges using the right arm.",
+    "Lift the smooth laptop with Windows logo underneath's lid using the right arm.",
+    "Lift the medium-sized black portable laptop lid completely.",
+    "Use the right arm to raise the black laptop with shiny display panel.",
+    "Pull up the lid of the laptop with flat black keyboard",
+    "Raise the medium-sized black portable laptop lid with the right arm.",
+    "Raise the top of the black laptop with shiny display panel",
+    "Use the right arm to lift the black laptop",
+    "Carefully open the laptop for typing and computing using the right arm",
+    "Open the laptop with flat black keyboard by lifting its lid.",
+    "Fully open the the laptop featuring black base and hinged screen.",
+    "Pull the screen of the medium-sized black portable laptop.",
+    "Lift the portable black laptop with textured casing's lid upwards.",
+    "Raise the black laptop with shiny display panel using the right arm.",
+    "Gently raise the black laptop with Saturn image on screen using the right arm.",
+    "Open the medium-sized black portable laptop entirely.",
+    "Pull the black laptop with Saturn image on screen upward lightly.",
+    "Pull open the black laptop with Saturn image on screen",
+    "Open the smooth laptop with Windows logo underneath carefully with the right arm.",
+    "Lift the black laptop with metallic edges slightly.",
+    "Use the right arm to open the black laptop with Saturn image on screen.",
+    "Raise and open the medium-sized black portable laptop.",
+    "Raise the black laptop using the right arm.",
+    "Pull the black laptop with shiny display panel open with the right arm.",
+    "Use the right arm to raise the portable black laptop with textured casing.",
+    "Gently open the black laptop with metallic edges.",
+    "Hold the black laptop with visible hinge steady, lift lid.",
+    "Raise the laptop for typing and computing lid using the right arm.",
+    "With the right arm, open the smooth laptop with Windows logo underneath's lid.",
+    "Slide the laptop with glossy screen open with the right arm.",
+    "Raise the laptop with glossy screen to expose the screen",
+    "Pull the black laptop with Saturn image on screen's lid upward.",
+    "Grip and lift the black laptop with Saturn image on screen's lid.",
+    "Push the smooth laptop with Windows logo underneath's lid upward using the right arm.",
+    "Raise the lid of the laptop with flat black keyboard.",
+    "Use the right arm to raise the laptop with flat black keyboard.",
+    "Lift the black laptop with shiny display panel to open it up",
+    "Lift and open the black laptop with metallic edges.",
+    "Lift the portable black laptop with textured casing open with the right arm.",
+    "Pull the lid of the laptop with glossy screen upward.",
+    "Raise the medium-sized black portable laptop using the right arm firmly.",
+    "Open the black laptop with visible hinge lifting with the right arm",
+    "Gently lift the black laptop with shiny display panel using the right arm",
+    "Use the right arm to open the laptop with flat black keyboard.",
+    "Gently open the black laptop with shiny display panel upward.",
+    "Raise the smooth laptop with Windows logo underneath's top section.",
+    "Open the laptop with flat black keyboard completely.",
+    "Use the right arm to open the smooth laptop with Windows logo underneath.",
+    "Lift the black laptop to open.",
+    "Use the right arm to open the laptop featuring black base and hinged screen",
+    "Fully lift the black laptop with metallic edges using the right arm.",
+    "Lift the laptop with glossy screen's lid using the right arm.",
+    "Lift the black laptop with visible hinge lid completely.",
+    "Use the right arm to raise the black laptop with metallic edges.",
+    "Pull up the lid of the laptop featuring black base and hinged screen",
+    "Raise the laptop featuring black base and hinged screen lid with the right arm.",
+    "Raise the top of the smooth laptop with Windows logo underneath",
+    "Use the right arm to lift the laptop featuring black base and hinged screen",
+    "Carefully open the black laptop with Saturn image on screen using the right arm",
+    "Open the black laptop with shiny display panel by lifting its lid.",
+    "Fully open the the laptop with flat black keyboard.",
+    "Pull the screen of the portable black laptop with textured casing.",
+    "Lift the smooth laptop with Windows logo underneath's lid upwards.",
+    "Raise the portable black laptop with textured casing using the right arm.",
+    "Gently raise the laptop for typing and computing using the right arm.",
+    "Open the laptop featuring black base and hinged screen entirely.",
+    "Pull the portable black laptop with textured casing upward lightly.",
+    "Pull open the portable black laptop with textured casing",
+    "Open the black laptop carefully with the right arm.",
+    "Lift the medium-sized black portable laptop slightly.",
+    "Use the right arm to open the smooth laptop with Windows logo underneath.",
+    "Raise and open the black laptop with Saturn image on screen.",
+    "Raise the medium-sized black portable laptop using the right arm.",
+    "Pull the portable black laptop with textured casing open with the right arm.",
+    "Use the right arm to raise the laptop for typing and computing.",
+    "Gently open the laptop featuring black base and hinged screen.",
+    "Hold the black laptop with Saturn image on screen steady, lift lid.",
+    "Raise the laptop with flat black keyboard lid using the right arm.",
+    "With the right arm, open the black laptop's lid.",
+    "Slide the laptop with flat black keyboard open with the right arm."
+  ],
+  "unseen": [
+    "Open the laptop with colorful screen with one motion.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the laptop with colorful screen with care",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the laptop with colorful screen with care",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the laptop with colorful screen with care",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the thin rectangular laptop with care",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the thin rectangular laptop with care",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the thin rectangular laptop with care",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the laptop with colorful screen with care",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the thin rectangular laptop with care",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the thin rectangular laptop with care",
+    "Grab the laptop with colorful screen and open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode23.json b/open_laptop/demo_clean/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5a8a17dd496419979dc90d3d04be9a7faf43cdc
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently lift the laptop with silver buttons on keyboard using the right arm",
+    "Pull open the laptop with shiny black surface",
+    "Raise the lid of the black laptop with smooth body.",
+    "Raise the laptop with shiny black surface lid with the right arm.",
+    "Lift the black laptop to open.",
+    "Raise the black and silver portable laptop using the right arm.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Open the laptop with silver buttons on keyboard entirely.",
+    "Raise the rectangular laptop with folding hinge lid using the right arm.",
+    "Raise and open the black laptop.",
+    "Lift the laptop with shiny black surface open with the right arm.",
+    "Use the right arm to raise the laptop with silver buttons on keyboard.",
+    "Hold the laptop with shiny black surface steady, lift lid.",
+    "Use the right arm to lift the laptop with wide black lid",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Fully open the the black and silver portable laptop.",
+    "Use the right arm to open the black and silver portable laptop.",
+    "With the right arm, open the laptop with rectangular display screen's lid.",
+    "Pull up the lid of the laptop with shiny black surface",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Gently open the rectangular laptop with smooth texture upward.",
+    "Slide the laptop with silver buttons on keyboard open with the right arm.",
+    "Raise the black laptop with smooth body using the right arm firmly.",
+    "Lift and open the laptop with wide black lid.",
+    "Gently raise the laptop with silver buttons on keyboard using the right arm.",
+    "Open the laptop with shiny black surface lifting with the right arm",
+    "Pull the laptop with wide black lid open with the right arm.",
+    "Lift the laptop featuring built-in keyboard slightly.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Push the laptop featuring built-in keyboard's lid upward using the right arm.",
+    "Carefully open the laptop with shiny black surface using the right arm",
+    "Raise the rectangular laptop with smooth texture to expose the screen",
+    "Pull the lid of the laptop with silver buttons on keyboard upward.",
+    "Fully lift the clamshell laptop with flat screen using the right arm.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Open the black laptop carefully with the right arm.",
+    "Pull the screen of the laptop with shiny black surface.",
+    "Lift the rectangular laptop with smooth texture's lid upwards.",
+    "Grip and lift the black and silver portable laptop's lid.",
+    "Lift the rectangular laptop with folding hinge to open it up",
+    "Lift the laptop with rectangular display screen lid completely.",
+    "Open the laptop with rectangular display screen completely.",
+    "Pull the black laptop with smooth body upward lightly.",
+    "Open the laptop with wide black lid by lifting its lid.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Raise the top of the laptop with wide black lid",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Lift the laptop with rectangular display screen's lid using the right arm.",
+    "Use the right arm to open the laptop with silver keyboard",
+    "Gently open the laptop with rectangular display screen.",
+    "Gently lift the laptop with rectangular display screen using the right arm",
+    "Pull open the laptop with rectangular display screen",
+    "Raise the lid of the clamshell laptop with flat screen.",
+    "Raise the laptop with rectangular display screen lid with the right arm.",
+    "Lift the laptop with shiny black surface to open.",
+    "Raise the rectangular laptop with smooth texture using the right arm.",
+    "Raise the laptop with rectangular display screen using the right arm.",
+    "Open the black and silver portable laptop entirely.",
+    "Raise the laptop with wide black lid lid using the right arm.",
+    "Raise and open the laptop with shiny black surface.",
+    "Lift the rectangular laptop with smooth texture open with the right arm.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Use the right arm to lift the rectangular laptop with folding hinge",
+    "Use the right arm to open the black and silver portable laptop.",
+    "Fully open the the laptop with shiny black surface.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "With the right arm, open the laptop featuring built-in keyboard's lid.",
+    "Pull up the lid of the black and silver portable laptop",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Gently open the laptop featuring built-in keyboard upward.",
+    "Slide the laptop with silver buttons on keyboard open with the right arm.",
+    "Raise the laptop with shiny black surface using the right arm firmly.",
+    "Lift and open the laptop with rectangular display screen.",
+    "Gently raise the laptop featuring built-in keyboard using the right arm.",
+    "Open the black and silver portable laptop lifting with the right arm",
+    "Pull the black and silver portable laptop open with the right arm.",
+    "Lift the laptop with rectangular display screen slightly.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Push the rectangular laptop with smooth texture's lid upward using the right arm.",
+    "Carefully open the black laptop using the right arm",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Pull the lid of the rectangular laptop with smooth texture upward.",
+    "Fully lift the rectangular laptop with folding hinge using the right arm.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Open the laptop with rectangular display screen carefully with the right arm.",
+    "Pull the screen of the clamshell laptop with flat screen.",
+    "Lift the laptop with wide black lid's lid upwards.",
+    "Grip and lift the black and silver portable laptop's lid.",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Lift the laptop with rectangular display screen lid completely.",
+    "Open the black laptop with smooth body completely.",
+    "Pull the laptop featuring built-in keyboard upward lightly.",
+    "Open the rectangular laptop with smooth texture by lifting its lid.",
+    "Raise the laptop with rectangular display screen's top section.",
+    "Raise the top of the rectangular laptop with smooth texture",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Lift the laptop with silver buttons on keyboard's lid using the right arm.",
+    "Use the right arm to open the laptop with wide black lid",
+    "Gently open the black laptop with smooth body."
+  ],
+  "unseen": [
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode24.json b/open_laptop/demo_clean/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ba561a596e98c4e356c1a92628402536c28a4c7
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the silver laptop with dark keys steady, lift lid.",
+    "Raise the rectangular laptop with screen using the left arm firmly.",
+    "Pull the compact silver laptop open with the left arm.",
+    "Pull the metal laptop with black keys upward lightly.",
+    "Gently open the laptop with metallic finish upward.",
+    "Gently raise the rectangular laptop with screen using the left arm.",
+    "Pull the lid of the laptop with foldable screen design upward.",
+    "Use the left arm to raise the laptop with foldable screen design.",
+    "Lift the lightweight silver laptop lid completely.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Lift and open the slim laptop.",
+    "Pull up the lid of the silver laptop with dark keys",
+    "Use the left arm to raise the laptop with foldable screen design.",
+    "Raise the silver laptop with dark keys lid with the left arm.",
+    "Raise the laptop with smooth surface to expose the screen",
+    "Grip and lift the portable slim laptop's lid.",
+    "Use the left arm to open the laptop with smooth surface",
+    "Pull open the metal laptop with black keys",
+    "Lift the compact silver laptop open with the left arm.",
+    "Fully lift the compact silver laptop using the left arm.",
+    "Slide the slim laptop open with the left arm.",
+    "Use the left arm to raise the metal laptop with black keys.",
+    "Use the left arm to lift the rectangular laptop with screen",
+    "Push the portable slim laptop's lid upward using the left arm.",
+    "Fully open the the portable slim laptop.",
+    "Open the slim laptop lifting with the left arm",
+    "Raise the metal laptop with black keys using the left arm.",
+    "Pull the silver laptop with dark keys's lid upward.",
+    "Gently open the lightweight silver laptop.",
+    "Pull the screen of the lightweight silver laptop.",
+    "Carefully open the metal laptop with black keys using the left arm",
+    "Raise the laptop with black keyboard using the left arm.",
+    "Lift the silver laptop with dark keys's lid upwards.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Gently lift the rectangular laptop with screen using the left arm",
+    "Lift the metal laptop with black keys slightly.",
+    "With the left arm, open the laptop with foldable screen design's lid.",
+    "Raise the compact silver laptop lid using the left arm.",
+    "Open the laptop with foldable screen design by lifting its lid.",
+    "Raise the top of the laptop with smooth surface",
+    "Open the rectangular laptop with screen entirely.",
+    "Use the left arm to open the slim laptop.",
+    "Open the portable slim laptop completely.",
+    "Lift the medium-sized silver laptop's lid using the left arm.",
+    "Open the compact silver laptop carefully with the left arm.",
+    "Lift the laptop with black keyboard to open.",
+    "Raise the lid of the compact silver laptop.",
+    "Raise and open the lightweight silver laptop.",
+    "Raise the medium-sized silver laptop's top section.",
+    "Lift the laptop with smooth surface to open it up",
+    "Hold the compact silver laptop steady, lift lid.",
+    "Raise the lightweight silver laptop using the left arm firmly.",
+    "Pull the silver laptop with dark keys open with the left arm.",
+    "Pull the slim laptop upward lightly.",
+    "Gently open the slim laptop upward.",
+    "Gently raise the medium-sized silver laptop using the left arm.",
+    "Pull the lid of the silver laptop with dark keys upward.",
+    "Use the left arm to raise the metal laptop with black keys.",
+    "Lift the slim laptop lid completely.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Lift and open the medium-sized silver laptop.",
+    "Pull up the lid of the lightweight silver laptop",
+    "Use the left arm to raise the laptop with black keyboard.",
+    "Raise the lightweight silver laptop lid with the left arm.",
+    "Raise the metal laptop with black keys to expose the screen",
+    "Grip and lift the portable slim laptop's lid.",
+    "Use the left arm to open the lightweight silver laptop",
+    "Pull open the laptop with foldable screen design",
+    "Lift the laptop with metallic finish open with the left arm.",
+    "Fully lift the laptop with smooth surface using the left arm.",
+    "Slide the laptop with smooth surface open with the left arm.",
+    "Use the left arm to raise the laptop with foldable screen design.",
+    "Use the left arm to lift the laptop with smooth surface",
+    "Push the silver laptop with dark keys's lid upward using the left arm.",
+    "Fully open the the laptop with metallic finish.",
+    "Open the laptop with foldable screen design lifting with the left arm",
+    "Raise the laptop with foldable screen design using the left arm.",
+    "Pull the slim laptop's lid upward.",
+    "Gently open the medium-sized silver laptop.",
+    "Pull the screen of the laptop with smooth surface.",
+    "Carefully open the silver laptop with dark keys using the left arm",
+    "Raise the laptop with black keyboard using the left arm.",
+    "Lift the silver laptop with dark keys's lid upwards.",
+    "Use the left arm to open the slim laptop.",
+    "Gently lift the laptop with smooth surface using the left arm",
+    "Lift the lightweight silver laptop slightly.",
+    "With the left arm, open the silver laptop with dark keys's lid.",
+    "Raise the compact silver laptop lid using the left arm.",
+    "Open the metal laptop with black keys by lifting its lid.",
+    "Raise the top of the portable slim laptop",
+    "Open the laptop with smooth surface entirely.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Open the slim laptop completely.",
+    "Lift the rectangular laptop with screen's lid using the left arm.",
+    "Open the laptop with smooth surface carefully with the left arm.",
+    "Lift the laptop with smooth surface to open.",
+    "Raise the lid of the portable slim laptop.",
+    "Raise and open the metal laptop with black keys.",
+    "Raise the silver laptop with dark keys's top section.",
+    "Lift the medium-sized silver laptop to open it up"
+  ],
+  "unseen": [
+    "Lift the silver laptop's lid gently.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the silver laptop's lid fully.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the silver laptop with one motion.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Open the silver laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the silver laptop using the left arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop with care",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop using the left arm",
+    "Lift the silver laptop's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Open the foldable laptop with one motion.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop using the left arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the left arm",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Open the silver laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the foldable laptop with one motion.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the silver laptop using the left arm",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Open the silver laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the silver laptop's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Open the silver laptop with one motion.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the folding laptop with black keyboard with care"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode25.json b/open_laptop/demo_clean/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..f49584ff080f776bc27e055c6e237d40a3f0cd34
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the hinged laptop with display completely.",
+    "Pull open the hinged laptop with display",
+    "Use the right arm to open the laptop with smooth texture",
+    "Open the laptop for computing carefully with the right arm.",
+    "Fully lift the laptop featuring smooth metal finish using the right arm.",
+    "Pull the blue-screen laptop's lid upward.",
+    "Raise the rectangular laptop with hinge's top section.",
+    "Raise the portable silver laptop using the right arm.",
+    "Lift the laptop featuring smooth metal finish slightly.",
+    "With the right arm, open the portable silver laptop's lid.",
+    "Gently open the medium-sized laptop upward.",
+    "Use the right arm to raise the laptop with silver base.",
+    "Lift and open the hinged laptop with display.",
+    "Gently lift the laptop with blue screen using the right arm",
+    "Use the right arm to open the laptop for computing.",
+    "Carefully open the portable silver laptop using the right arm",
+    "Lift the laptop for computing to open.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Lift the laptop with smooth texture lid completely.",
+    "Raise the laptop featuring smooth metal finish lid with the right arm.",
+    "Open the rectangular laptop with hinge by lifting its lid.",
+    "Use the right arm to lift the rectangular laptop with hinge",
+    "Pull the laptop for computing open with the right arm.",
+    "Raise the laptop for computing using the right arm firmly.",
+    "Fully open the the medium-sized laptop.",
+    "Raise the top of the metallic laptop",
+    "Lift the portable silver laptop's lid using the right arm.",
+    "Raise the lid of the laptop with silver base.",
+    "Pull up the lid of the laptop with blue screen",
+    "Open the blue-screen laptop lifting with the right arm",
+    "Use the right arm to open the laptop featuring smooth metal finish.",
+    "Hold the laptop with smooth texture steady, lift lid.",
+    "Pull the portable silver laptop upward lightly.",
+    "Use the right arm to open the rectangular laptop with hinge.",
+    "Raise the metallic laptop using the right arm.",
+    "Lift the laptop with silver base's lid upwards.",
+    "Lift the laptop with blue screen open with the right arm.",
+    "Pull the screen of the laptop featuring smooth metal finish.",
+    "Use the right arm to raise the laptop with glass screen.",
+    "Push the blue-screen laptop's lid upward using the right arm.",
+    "Lift the laptop featuring smooth metal finish to open it up",
+    "Slide the laptop with glass screen open with the right arm.",
+    "Raise the rectangular laptop with hinge lid using the right arm.",
+    "Pull the lid of the blue-screen laptop upward.",
+    "Grip and lift the laptop featuring smooth metal finish's lid.",
+    "Raise the blue-screen laptop to expose the screen",
+    "Raise and open the medium-sized laptop.",
+    "Open the medium-sized laptop entirely.",
+    "Gently open the blue-screen laptop.",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Open the portable silver laptop completely.",
+    "Pull open the laptop with smooth texture",
+    "Use the right arm to open the portable silver laptop",
+    "Open the laptop featuring smooth metal finish carefully with the right arm.",
+    "Fully lift the metallic laptop using the right arm.",
+    "Pull the laptop featuring smooth metal finish's lid upward.",
+    "Raise the rectangular laptop with hinge's top section.",
+    "Raise the laptop with blue screen using the right arm.",
+    "Lift the blue-screen laptop slightly.",
+    "With the right arm, open the portable silver laptop's lid.",
+    "Gently open the laptop with smooth texture upward.",
+    "Use the right arm to raise the laptop with glass screen.",
+    "Lift and open the laptop with silver base.",
+    "Gently lift the laptop for computing using the right arm",
+    "Use the right arm to open the laptop with glass screen.",
+    "Carefully open the laptop featuring smooth metal finish using the right arm",
+    "Lift the portable silver laptop to open.",
+    "Gently raise the laptop with smooth texture using the right arm.",
+    "Lift the hinged laptop with display lid completely.",
+    "Raise the metallic laptop lid with the right arm.",
+    "Open the hinged laptop with display by lifting its lid.",
+    "Use the right arm to lift the laptop featuring smooth metal finish",
+    "Pull the rectangular laptop with hinge open with the right arm.",
+    "Raise the laptop featuring smooth metal finish using the right arm firmly.",
+    "Fully open the the medium-sized laptop.",
+    "Raise the top of the hinged laptop with display",
+    "Lift the hinged laptop with display's lid using the right arm.",
+    "Raise the lid of the portable silver laptop.",
+    "Pull up the lid of the laptop featuring smooth metal finish",
+    "Open the laptop featuring smooth metal finish lifting with the right arm",
+    "Use the right arm to open the metallic laptop.",
+    "Hold the medium-sized laptop steady, lift lid.",
+    "Pull the laptop with smooth texture upward lightly.",
+    "Use the right arm to open the blue-screen laptop.",
+    "Raise the laptop with glass screen using the right arm.",
+    "Lift the laptop for computing's lid upwards.",
+    "Lift the metallic laptop open with the right arm.",
+    "Pull the screen of the laptop for computing.",
+    "Use the right arm to raise the laptop with glass screen.",
+    "Push the laptop with glass screen's lid upward using the right arm.",
+    "Lift the laptop with glass screen to open it up",
+    "Slide the laptop for computing open with the right arm.",
+    "Raise the laptop for computing lid using the right arm.",
+    "Pull the lid of the metallic laptop upward.",
+    "Grip and lift the blue-screen laptop's lid.",
+    "Raise the rectangular laptop with hinge to expose the screen",
+    "Raise and open the hinged laptop with display.",
+    "Open the portable silver laptop entirely.",
+    "Gently open the laptop featuring smooth metal finish.",
+    "Use the right arm to raise the rectangular laptop with hinge."
+  ],
+  "unseen": [
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop using the right arm",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the sleek laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop using the right arm",
+    "Lift the sleek laptop's lid fully.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the silver laptop's lid gently.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop using the right arm",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the sleek laptop's lid.",
+    "Lift the silver laptop's lid gently.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the silver laptop using the right arm",
+    "Lift the sleek laptop's lid fully.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop using the right arm",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the silver laptop using the right arm",
+    "Lift the silver laptop's lid fully.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the sleek laptop using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop using the right arm",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop using the right arm",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the sleek laptop with care",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the sleek laptop using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop using the right arm",
+    "Lift the sleek laptop's lid fully.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the sleek laptop using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop using the right arm",
+    "Lift the sleek laptop's lid fully.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode26.json b/open_laptop/demo_clean/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d1e5f597b4f9dfaeb004ce1a068dd420fedfe5d
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the medium-sized laptop using the left arm firmly.",
+    "Pull the device with flat keyboard and screen open with the left arm.",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Lift the device with flat keyboard and screen's lid using the left arm.",
+    "Raise the lid of the black laptop with reflective screen.",
+    "Use the left arm to lift the compact black and silver computer",
+    "Slide the portable folding laptop open with the left arm.",
+    "Fully lift the compact black and silver computer using the left arm.",
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Open the compact black and silver computer entirely.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Raise the matte laptop with smooth screen lid using the left arm.",
+    "Pull open the folding laptop with screen and keyboard",
+    "Raise the silver keyboard laptop to expose the screen",
+    "Lift the laptop with silver keyboard to open it up",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Open the matte laptop with smooth screen lifting with the left arm",
+    "Use the left arm to raise the medium-sized laptop.",
+    "Use the left arm to open the matte laptop with smooth screen",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Lift the matte laptop with smooth screen lid completely.",
+    "Raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Gently open the Toshiba laptop with folding design upward.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Fully open the the portable folding laptop.",
+    "Use the left arm to raise the compact black and silver computer.",
+    "Lift and open the black and silver laptop.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Open the portable folding laptop completely.",
+    "Pull the compact black and silver computer upward lightly.",
+    "Lift the device with flat keyboard and screen slightly.",
+    "Carefully open the portable folding laptop using the left arm",
+    "Pull the screen of the compact black and silver computer.",
+    "Push the black and silver laptop's lid upward using the left arm.",
+    "Pull the lid of the silver keyboard laptop upward.",
+    "Raise the compact black and silver computer lid with the left arm.",
+    "With the left arm, open the laptop with silver keyboard's lid.",
+    "Open the portable folding laptop carefully with the left arm.",
+    "Use the left arm to raise the device with flat keyboard and screen.",
+    "Raise and open the Toshiba laptop with folding design.",
+    "Raise the Toshiba laptop with folding design using the left arm.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Gently lift the folding laptop with screen and keyboard using the left arm",
+    "Gently raise the folding laptop with screen and keyboard using the left arm.",
+    "Open the medium-sized laptop by lifting its lid.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Lift the matte laptop with smooth screen open with the left arm.",
+    "Gently open the medium-sized laptop.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Raise the portable folding laptop using the left arm firmly.",
+    "Pull the matte laptop with smooth screen open with the left arm.",
+    "Raise the top of the black and silver laptop",
+    "Lift the folding laptop with screen and keyboard's lid using the left arm.",
+    "Raise the lid of the black and silver laptop.",
+    "Use the left arm to lift the medium-sized laptop",
+    "Slide the silver keyboard laptop open with the left arm.",
+    "Fully lift the black laptop with reflective screen using the left arm.",
+    "Grip and lift the device with flat keyboard and screen's lid.",
+    "Open the portable folding laptop entirely.",
+    "Lift the compact black and silver computer's lid upwards.",
+    "Raise the black laptop with reflective screen lid using the left arm.",
+    "Pull open the Toshiba laptop with folding design",
+    "Raise the black laptop with reflective screen to expose the screen",
+    "Lift the laptop with silver keyboard to open it up",
+    "Pull the compact black and silver computer's lid upward.",
+    "Open the medium-sized laptop lifting with the left arm",
+    "Use the left arm to raise the medium-sized laptop.",
+    "Use the left arm to open the device with flat keyboard and screen",
+    "Use the left arm to open the black and silver laptop.",
+    "Lift the portable folding laptop lid completely.",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Gently open the matte laptop with smooth screen upward.",
+    "Lift the laptop with silver keyboard to open.",
+    "Fully open the the black and silver laptop.",
+    "Use the left arm to raise the Toshiba laptop with folding design.",
+    "Lift and open the laptop with silver keyboard.",
+    "Use the left arm to open the portable folding laptop.",
+    "Open the rectangular laptop with Toshiba logo completely.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Carefully open the Toshiba laptop with folding design using the left arm",
+    "Pull the screen of the medium-sized laptop.",
+    "Push the silver keyboard laptop's lid upward using the left arm.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Raise the portable folding laptop lid with the left arm.",
+    "With the left arm, open the Toshiba laptop with folding design's lid.",
+    "Open the black laptop with reflective screen carefully with the left arm.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Raise and open the medium-sized laptop.",
+    "Raise the black laptop with reflective screen using the left arm.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Gently lift the compact black and silver computer using the left arm",
+    "Gently raise the Toshiba laptop with folding design using the left arm.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Raise the silver keyboard laptop's top section.",
+    "Lift the folding laptop with screen and keyboard open with the left arm.",
+    "Gently open the portable folding laptop.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "Hold the matte laptop with smooth screen steady, lift lid."
+  ],
+  "unseen": [
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with care",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen with care",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the left arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode27.json b/open_laptop/demo_clean/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebbaf4de103c87784894f6b00b08ce8d1bbdca29
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the portable laptop to open it up",
+    "Open the compact black laptop lifting with the left arm",
+    "Pull open the black-and-blue laptop with keyboard",
+    "Lift the foldable laptop with screen's lid upwards.",
+    "Gently raise the black laptop with sharp rectangular edges using the left arm.",
+    "Pull up the lid of the blue base black lid laptop",
+    "Raise the compact black laptop to expose the screen",
+    "Slide the medium-sized laptop for work open with the left arm.",
+    "Fully lift the black laptop with sharp rectangular edges using the left arm.",
+    "Raise the black laptop with sharp rectangular edges lid using the left arm.",
+    "Raise and open the laptop for browsing and computing.",
+    "Gently lift the laptop for browsing and computing using the left arm",
+    "Gently open the rectangular laptop with foldable hinge.",
+    "Use the left arm to raise the black laptop with blue bottom panel.",
+    "Grip and lift the compact black laptop's lid.",
+    "Raise the lid of the blue bottom foldable black laptop.",
+    "Raise the rectangular laptop with foldable hinge using the left arm.",
+    "Use the left arm to raise the medium-sized laptop for work.",
+    "Open the laptop for browsing and computing entirely.",
+    "Lift the compact black laptop lid completely.",
+    "Open the blue bottom foldable black laptop carefully with the left arm.",
+    "Use the left arm to open the black laptop with blue bottom panel.",
+    "Use the left arm to open the medium-sized laptop for work.",
+    "Raise the black laptop with blue bottom panel using the left arm firmly.",
+    "Open the rectangular laptop with foldable hinge by lifting its lid.",
+    "Pull the black-and-blue laptop with keyboard open with the left arm.",
+    "Use the left arm to open the laptop for browsing and computing",
+    "Use the left arm to lift the laptop for browsing and computing",
+    "Lift the blue base black lid laptop to open.",
+    "Lift and open the foldable laptop with screen.",
+    "Use the left arm to open the portable laptop.",
+    "Lift the laptop for browsing and computing's lid using the left arm.",
+    "Lift the blue bottom foldable black laptop slightly.",
+    "Fully open the the portable laptop.",
+    "Lift the blue-black laptop open with the left arm.",
+    "Raise the black-and-blue laptop with keyboard lid with the left arm.",
+    "Pull the lid of the blue base black lid laptop upward.",
+    "Use the left arm to raise the portable laptop.",
+    "Hold the compact black laptop steady, lift lid.",
+    "Raise the portable laptop's top section.",
+    "Pull the screen of the medium-sized laptop for work.",
+    "Pull the compact black laptop upward lightly.",
+    "Gently open the blue bottom foldable black laptop upward.",
+    "Open the rectangular laptop with foldable hinge completely.",
+    "Push the foldable laptop with screen's lid upward using the left arm.",
+    "Pull the black-and-blue laptop with keyboard's lid upward.",
+    "Raise the top of the black laptop with sharp rectangular edges",
+    "With the left arm, open the black laptop with sharp rectangular edges's lid.",
+    "Carefully open the portable laptop using the left arm",
+    "Raise the black laptop with sharp rectangular edges using the left arm.",
+    "Lift the laptop for browsing and computing to open it up",
+    "Open the medium-sized laptop for work lifting with the left arm",
+    "Pull open the foldable laptop with screen",
+    "Lift the black laptop with sharp rectangular edges's lid upwards.",
+    "Gently raise the portable laptop using the left arm.",
+    "Pull up the lid of the compact black laptop",
+    "Raise the portable laptop to expose the screen",
+    "Slide the laptop for browsing and computing open with the left arm.",
+    "Fully lift the blue-black laptop using the left arm.",
+    "Raise the blue base black lid laptop lid using the left arm.",
+    "Raise and open the blue base black lid laptop.",
+    "Gently lift the medium-sized laptop for work using the left arm",
+    "Gently open the laptop for browsing and computing.",
+    "Use the left arm to raise the blue-black laptop.",
+    "Grip and lift the black laptop with blue bottom panel's lid.",
+    "Raise the lid of the blue base black lid laptop.",
+    "Raise the medium-sized laptop for work using the left arm.",
+    "Use the left arm to raise the blue bottom foldable black laptop.",
+    "Open the laptop for browsing and computing entirely.",
+    "Lift the blue base black lid laptop lid completely.",
+    "Open the blue-black laptop carefully with the left arm.",
+    "Use the left arm to open the black laptop with sharp rectangular edges.",
+    "Use the left arm to open the black laptop with blue bottom panel.",
+    "Raise the blue-black laptop using the left arm firmly.",
+    "Open the black laptop with sharp rectangular edges by lifting its lid.",
+    "Pull the rectangular laptop with foldable hinge open with the left arm.",
+    "Use the left arm to open the blue-black laptop",
+    "Use the left arm to lift the black laptop with blue bottom panel",
+    "Lift the medium-sized laptop for work to open.",
+    "Lift and open the laptop for browsing and computing.",
+    "Use the left arm to open the blue base black lid laptop.",
+    "Lift the blue base black lid laptop's lid using the left arm.",
+    "Lift the black laptop with sharp rectangular edges slightly.",
+    "Fully open the the rectangular laptop with foldable hinge.",
+    "Lift the blue base black lid laptop open with the left arm.",
+    "Raise the blue bottom foldable black laptop lid with the left arm.",
+    "Pull the lid of the laptop for browsing and computing upward.",
+    "Use the left arm to raise the foldable laptop with screen.",
+    "Hold the black laptop with sharp rectangular edges steady, lift lid.",
+    "Raise the blue-black laptop's top section.",
+    "Pull the screen of the blue bottom foldable black laptop.",
+    "Pull the laptop for browsing and computing upward lightly.",
+    "Gently open the blue-black laptop upward.",
+    "Open the black laptop with sharp rectangular edges completely.",
+    "Push the blue-black laptop's lid upward using the left arm.",
+    "Pull the black laptop with sharp rectangular edges's lid upward.",
+    "Raise the top of the blue bottom foldable black laptop",
+    "With the left arm, open the medium-sized laptop for work's lid.",
+    "Carefully open the laptop for browsing and computing using the left arm",
+    "Raise the medium-sized laptop for work using the left arm."
+  ],
+  "unseen": [
+    "Open the black laptop with one motion.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Open the black laptop carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Grab the black laptop and open it.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Lift the black laptop using the left arm.",
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the black laptop and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Open the black laptop using the left arm.",
+    "Open the black laptop with one motion.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the black laptop and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Open the black laptop with one motion.",
+    "Open the black laptop carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop's lid fully.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the black laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the black laptop's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Lift the black laptop using the left arm.",
+    "Open the black laptop with care",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Grab the black laptop and open it.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Lift the black laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Open the black laptop carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the black laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the black laptop with one motion.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Grab the black laptop and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Open the black laptop carefully using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Lift the black laptop's lid fully.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop using the left arm",
+    "Lift the black laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode28.json b/open_laptop/demo_clean/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ae8fa86218f00c5acd07d8c24b55fac577c29b
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the top of the smooth textured laptop",
+    "Pull the black screen laptop's lid upward.",
+    "Pull the black screen laptop upward lightly.",
+    "Pull up the lid of the wood surrounded laptop",
+    "Lift the wood surrounded laptop to open it up",
+    "Use the left arm to open the keyboard laptop.",
+    "Lift the laptop with black textured screen lid completely.",
+    "Open the keyboard laptop by lifting its lid.",
+    "Raise the silver laptop with black keyboard lid using the left arm.",
+    "Raise the keyboard laptop lid with the left arm.",
+    "Gently open the laptop with black textured screen.",
+    "Carefully open the wood surrounded laptop using the left arm",
+    "Open the laptop with wood panel background carefully with the left arm.",
+    "Raise the keyboard laptop to expose the screen",
+    "Grip and lift the silver laptop's lid.",
+    "Raise the lid of the black and silver laptop.",
+    "Raise the metal laptop using the left arm.",
+    "Lift and open the keyboard laptop.",
+    "Open the wood surrounded laptop entirely.",
+    "Fully open the the laptop with black textured screen.",
+    "Gently lift the silver laptop using the left arm",
+    "Hold the silver laptop with black keyboard steady, lift lid.",
+    "Lift the black and silver laptop's lid using the left arm.",
+    "Use the left arm to open the black and silver laptop.",
+    "Pull the lid of the smooth textured laptop upward.",
+    "Pull the metal laptop open with the left arm.",
+    "Raise and open the smooth textured laptop.",
+    "With the left arm, open the black and silver laptop's lid.",
+    "Raise the metal laptop's top section.",
+    "Lift the smooth textured laptop slightly.",
+    "Open the silver laptop with foldable parts completely.",
+    "Pull the screen of the laptop with black textured screen.",
+    "Use the left arm to lift the medium foldable silver laptop",
+    "Use the left arm to raise the metal laptop.",
+    "Push the medium foldable silver laptop's lid upward using the left arm.",
+    "Use the left arm to open the silver laptop",
+    "Use the left arm to raise the silver laptop with foldable parts.",
+    "Gently open the smooth textured laptop upward.",
+    "Fully lift the laptop with black textured screen using the left arm.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Lift the silver laptop with foldable parts's lid upwards.",
+    "Lift the black and silver laptop open with the left arm.",
+    "Lift the black screen laptop to open.",
+    "Use the left arm to raise the smooth textured laptop.",
+    "Slide the silver laptop with black keyboard open with the left arm.",
+    "Raise the silver laptop with black keyboard using the left arm.",
+    "Raise the laptop with black textured screen using the left arm firmly.",
+    "Pull open the silver laptop with black keyboard",
+    "Gently raise the medium foldable silver laptop using the left arm.",
+    "Open the laptop with black textured screen lifting with the left arm",
+    "Raise the top of the smooth textured laptop",
+    "Pull the smooth textured laptop's lid upward.",
+    "Pull the silver laptop with foldable parts upward lightly.",
+    "Pull up the lid of the laptop with black textured screen",
+    "Lift the metal laptop to open it up",
+    "Use the left arm to open the smooth textured laptop.",
+    "Lift the laptop with black textured screen lid completely.",
+    "Open the silver laptop with foldable parts by lifting its lid.",
+    "Raise the black and silver laptop lid using the left arm.",
+    "Raise the wood surrounded laptop lid with the left arm.",
+    "Gently open the metal laptop.",
+    "Carefully open the silver laptop using the left arm",
+    "Open the laptop with black textured screen carefully with the left arm.",
+    "Raise the wood surrounded laptop to expose the screen",
+    "Grip and lift the metal laptop's lid.",
+    "Raise the lid of the silver laptop with black keyboard.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Lift and open the black screen laptop.",
+    "Open the smooth textured laptop entirely.",
+    "Fully open the the silver laptop with foldable parts.",
+    "Gently lift the silver laptop with foldable parts using the left arm",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Lift the black screen laptop's lid using the left arm.",
+    "Use the left arm to open the medium foldable silver laptop.",
+    "Pull the lid of the wood surrounded laptop upward.",
+    "Pull the black screen laptop open with the left arm.",
+    "Raise and open the keyboard laptop.",
+    "With the left arm, open the black and silver laptop's lid.",
+    "Raise the silver laptop with foldable parts's top section.",
+    "Lift the black screen laptop slightly.",
+    "Open the medium foldable silver laptop completely.",
+    "Pull the screen of the laptop with wood panel background.",
+    "Use the left arm to lift the metal laptop",
+    "Use the left arm to raise the metal laptop.",
+    "Push the silver laptop's lid upward using the left arm.",
+    "Use the left arm to open the laptop with black textured screen",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Gently open the silver laptop upward.",
+    "Fully lift the medium foldable silver laptop using the left arm.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Lift the silver laptop's lid upwards.",
+    "Lift the laptop with black textured screen open with the left arm.",
+    "Lift the laptop with wood panel background to open.",
+    "Use the left arm to raise the silver laptop.",
+    "Slide the silver laptop open with the left arm.",
+    "Raise the black and silver laptop using the left arm.",
+    "Raise the smooth textured laptop using the left arm firmly.",
+    "Pull open the silver laptop with black keyboard",
+    "Gently raise the silver laptop with black keyboard using the left arm.",
+    "Open the silver laptop with foldable parts lifting with the left arm"
+  ],
+  "unseen": [
+    "Open the foldable laptop using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with care",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the medium laptop with silver body's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode29.json b/open_laptop/demo_clean/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..e95adf9324b04ed1fc7b908e3c786d31c8664fba
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, open the laptop with black hinge area's lid.",
+    "Fully lift the orange laptop using the left arm.",
+    "Raise the plastic orange laptop with metal parts using the left arm.",
+    "Gently open the blue screen portable laptop.",
+    "Gently open the blue screen portable laptop upward.",
+    "Use the left arm to raise the rectangular laptop with orange body.",
+    "Push the orange laptop's lid upward using the left arm.",
+    "Slide the orange laptop open with the left arm.",
+    "Raise the foldable laptop using the left arm firmly.",
+    "Raise the blue screen foldable laptop lid using the left arm.",
+    "Lift the rectangular laptop with orange body slightly.",
+    "Gently raise the hinged screen laptop using the left arm.",
+    "Raise the laptop with blue screen lid with the left arm.",
+    "Lift the laptop with folding lid lid completely.",
+    "Pull the plastic orange laptop with metal parts upward lightly.",
+    "Raise the laptop with black hinge area's top section.",
+    "Raise and open the foldable laptop.",
+    "Lift the hinged screen laptop to open.",
+    "Use the left arm to open the plastic orange laptop with metal parts.",
+    "Lift the laptop with black hinge area's lid using the left arm.",
+    "Pull open the laptop with blue screen",
+    "Fully open the the hinged screen laptop.",
+    "Pull up the lid of the hinged screen laptop",
+    "Pull the lid of the blue screen portable laptop upward.",
+    "Use the left arm to open the thin portable laptop.",
+    "Lift and open the medium rectangular orange laptop.",
+    "Gently lift the laptop with black hinge area using the left arm",
+    "Lift the foldable laptop's lid upwards.",
+    "Lift the medium rectangular orange laptop open with the left arm.",
+    "Raise the foldable laptop using the left arm.",
+    "Raise the lid of the laptop with folding lid.",
+    "Open the laptop with folding lid by lifting its lid.",
+    "Open the hinged screen laptop lifting with the left arm",
+    "Carefully open the laptop with folding lid using the left arm",
+    "Hold the plastic orange laptop with metal parts steady, lift lid.",
+    "Raise the top of the laptop with black hinge area",
+    "Lift the thin portable laptop to open it up",
+    "Use the left arm to raise the plastic orange laptop with metal parts.",
+    "Grip and lift the orange laptop's lid.",
+    "Open the thin portable laptop entirely.",
+    "Use the left arm to open the orange laptop.",
+    "Pull the thin portable laptop's lid upward.",
+    "Pull the screen of the orange laptop.",
+    "Use the left arm to open the laptop with blue screen",
+    "Open the laptop with folding lid carefully with the left arm.",
+    "Pull the laptop with black hinge area open with the left arm.",
+    "Use the left arm to raise the foldable laptop.",
+    "Open the medium rectangular orange laptop completely.",
+    "Use the left arm to lift the laptop with blue screen",
+    "Raise the blue screen foldable laptop to expose the screen",
+    "With the left arm, open the laptop with black hinge area's lid.",
+    "Fully lift the laptop with folding lid using the left arm.",
+    "Raise the rectangular laptop with orange body using the left arm.",
+    "Gently open the laptop with folding lid.",
+    "Gently open the laptop with black hinge area upward.",
+    "Use the left arm to raise the orange laptop.",
+    "Push the blue screen foldable laptop's lid upward using the left arm.",
+    "Slide the foldable laptop open with the left arm.",
+    "Raise the plastic orange laptop with metal parts using the left arm firmly.",
+    "Raise the laptop with black hinge area lid using the left arm.",
+    "Lift the blue screen foldable laptop slightly.",
+    "Gently raise the laptop with folding lid using the left arm.",
+    "Raise the blue screen foldable laptop lid with the left arm.",
+    "Lift the orange laptop lid completely.",
+    "Pull the laptop with black hinge area upward lightly.",
+    "Raise the hinged screen laptop's top section.",
+    "Raise and open the plastic orange laptop with metal parts.",
+    "Lift the blue screen foldable laptop to open.",
+    "Use the left arm to open the thin portable laptop.",
+    "Lift the blue screen portable laptop's lid using the left arm.",
+    "Pull open the laptop with blue screen",
+    "Fully open the the orange laptop.",
+    "Pull up the lid of the hinged screen laptop",
+    "Pull the lid of the medium rectangular orange laptop upward.",
+    "Use the left arm to open the thin portable laptop.",
+    "Lift and open the blue screen foldable laptop.",
+    "Gently lift the medium rectangular orange laptop using the left arm",
+    "Lift the laptop with blue screen's lid upwards.",
+    "Lift the foldable laptop open with the left arm.",
+    "Raise the foldable laptop using the left arm.",
+    "Raise the lid of the laptop with folding lid.",
+    "Open the thin portable laptop by lifting its lid.",
+    "Open the blue screen portable laptop lifting with the left arm",
+    "Carefully open the thin portable laptop using the left arm",
+    "Hold the thin portable laptop steady, lift lid.",
+    "Raise the top of the plastic orange laptop with metal parts",
+    "Lift the blue screen foldable laptop to open it up",
+    "Use the left arm to raise the laptop with black hinge area.",
+    "Grip and lift the thin portable laptop's lid.",
+    "Open the medium rectangular orange laptop entirely.",
+    "Use the left arm to open the laptop with folding lid.",
+    "Pull the medium rectangular orange laptop's lid upward.",
+    "Pull the screen of the hinged screen laptop.",
+    "Use the left arm to open the medium rectangular orange laptop",
+    "Open the foldable laptop carefully with the left arm.",
+    "Pull the blue screen portable laptop open with the left arm.",
+    "Use the left arm to raise the orange laptop.",
+    "Open the rectangular laptop with orange body completely.",
+    "Use the left arm to lift the rectangular laptop with orange body",
+    "Raise the foldable laptop to expose the screen"
+  ],
+  "unseen": [
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior carefully using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the flat orange laptop's lid gently.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Lift the flat orange laptop using the left arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the flat orange laptop with care",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the flat orange laptop using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the flat orange laptop using the left arm.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Lift the flat orange laptop's lid fully.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Open the flat orange laptop with one motion.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior carefully using the left arm.",
+    "Lift the flat orange laptop using the left arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the flat orange laptop with care",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the flat orange laptop using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Lift the flat orange laptop's lid fully.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Open the flat orange laptop with one motion.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the flat orange laptop's lid gently.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm",
+    "Lift the flat orange laptop's lid fully.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior carefully using the left arm.",
+    "Lift the flat orange laptop using the left arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the flat orange laptop's lid gently.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the compact laptop with orange exterior using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode3.json b/open_laptop/demo_clean/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..ade499bea1d104e72dd70e2b7f648d6cbd433ac8
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Pull the screen of the black laptop with reflective screen.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Push the laptop with silver keyboard's lid upward using the left arm.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Use the left arm to raise the device with flat keyboard and screen.",
+    "Use the left arm to raise the medium-sized laptop.",
+    "Raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Use the left arm to open the medium-sized laptop.",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Gently raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Pull the matte laptop with smooth screen upward lightly.",
+    "Lift the compact black and silver computer to open.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "With the left arm, open the laptop with silver keyboard's lid.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Slide the matte laptop with smooth screen open with the left arm.",
+    "Pull the black laptop with reflective screen open with the left arm.",
+    "Lift the device with flat keyboard and screen open with the left arm.",
+    "Use the left arm to open the black and silver laptop",
+    "Fully lift the matte laptop with smooth screen using the left arm.",
+    "Gently lift the Toshiba laptop with folding design using the left arm",
+    "Open the matte laptop with smooth screen entirely.",
+    "Raise the silver keyboard laptop lid with the left arm.",
+    "Lift the silver keyboard laptop to open it up",
+    "Grip and lift the folding laptop with screen and keyboard's lid.",
+    "Raise the laptop with silver keyboard lid using the left arm.",
+    "Use the left arm to open the matte laptop with smooth screen.",
+    "Open the Toshiba laptop with folding design carefully with the left arm.",
+    "Lift the black laptop with reflective screen's lid using the left arm.",
+    "Pull open the compact black and silver computer",
+    "Lift the Toshiba laptop with folding design's lid upwards.",
+    "Open the matte laptop with smooth screen completely.",
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Gently open the laptop with silver keyboard.",
+    "Raise the top of the black laptop with reflective screen",
+    "Use the left arm to lift the black laptop with reflective screen",
+    "Pull the portable folding laptop's lid upward.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Raise the black laptop with reflective screen using the left arm.",
+    "Carefully open the Toshiba laptop with folding design using the left arm",
+    "Use the left arm to open the medium-sized laptop.",
+    "Pull the lid of the medium-sized laptop upward.",
+    "Raise the black and silver laptop to expose the screen",
+    "Open the device with flat keyboard and screen lifting with the left arm",
+    "Raise the Toshiba laptop with folding design using the left arm firmly.",
+    "Fully open the the laptop with silver keyboard.",
+    "Pull the screen of the silver keyboard laptop.",
+    "Lift and open the black laptop with reflective screen.",
+    "Push the compact black and silver computer's lid upward using the left arm.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Use the left arm to raise the silver keyboard laptop.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Raise and open the black and silver laptop.",
+    "Use the left arm to open the compact black and silver computer.",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Gently raise the device with flat keyboard and screen using the left arm.",
+    "Pull the black laptop with reflective screen upward lightly.",
+    "Lift the device with flat keyboard and screen to open.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "With the left arm, open the laptop with silver keyboard's lid.",
+    "Lift the black and silver laptop slightly.",
+    "Slide the portable folding laptop open with the left arm.",
+    "Pull the silver keyboard laptop open with the left arm.",
+    "Lift the silver keyboard laptop open with the left arm.",
+    "Use the left arm to open the black and silver laptop",
+    "Fully lift the rectangular laptop with Toshiba logo using the left arm.",
+    "Gently lift the matte laptop with smooth screen using the left arm",
+    "Open the black laptop with reflective screen entirely.",
+    "Raise the medium-sized laptop lid with the left arm.",
+    "Lift the black laptop with reflective screen to open it up",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Raise the black laptop with reflective screen lid using the left arm.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Open the Toshiba laptop with folding design carefully with the left arm.",
+    "Lift the device with flat keyboard and screen's lid using the left arm.",
+    "Pull open the Toshiba laptop with folding design",
+    "Lift the portable folding laptop's lid upwards.",
+    "Open the portable folding laptop completely.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Gently open the black laptop with reflective screen.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Use the left arm to lift the medium-sized laptop",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Raise the portable folding laptop's top section.",
+    "Gently open the black and silver laptop upward.",
+    "Raise the lid of the rectangular laptop with Toshiba logo.",
+    "Raise the Toshiba laptop with folding design using the left arm.",
+    "Carefully open the silver keyboard laptop using the left arm",
+    "Use the left arm to open the silver keyboard laptop.",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Raise the black and silver laptop to expose the screen",
+    "Open the medium-sized laptop lifting with the left arm",
+    "Raise the folding laptop with screen and keyboard using the left arm firmly."
+  ],
+  "unseen": [
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode30.json b/open_laptop/demo_clean/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9abd8dc5b6b0e6d1e99be735c53303336883cb7
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the Toshiba laptop with rectangular screen to expose the screen",
+    "Lift the black laptop with hinge mechanism lid completely.",
+    "Open the Toshiba laptop with rectangular screen entirely.",
+    "Use the left arm to open the black laptop with hinge mechanism.",
+    "Use the left arm to lift the foldable black laptop",
+    "Lift and open the black laptop with hinge mechanism.",
+    "Pull the screen of the foldable black laptop.",
+    "Lift the black laptop slightly.",
+    "Open the foldable black laptop by lifting its lid.",
+    "Gently lift the Toshiba laptop using the left arm",
+    "Raise the Toshiba laptop lid using the left arm.",
+    "Grip and lift the folding laptop with screen and keyboard's lid.",
+    "Open the Toshiba laptop with rectangular screen lifting with the left arm",
+    "Gently raise the portable folding Toshiba laptop using the left arm.",
+    "Gently open the black laptop with red Toshiba logo upward.",
+    "Open the black laptop with red Toshiba logo completely.",
+    "Use the left arm to raise the portable folding Toshiba laptop.",
+    "Pull the black laptop with smooth matte surface open with the left arm.",
+    "Lift the black laptop with smooth matte surface open with the left arm.",
+    "Raise the Toshiba laptop using the left arm.",
+    "Raise the medium black rectangular laptop's top section.",
+    "Carefully open the black laptop with red text underneath using the left arm",
+    "Gently open the black laptop with hinge mechanism.",
+    "Fully open the the Toshiba laptop.",
+    "Pull the foldable black laptop upward lightly.",
+    "Push the portable folding Toshiba laptop's lid upward using the left arm.",
+    "Raise the lid of the portable folding Toshiba laptop.",
+    "Raise the sleek black Toshiba computing laptop lid with the left arm.",
+    "Lift the sleek black Toshiba computing laptop's lid upwards.",
+    "Pull the lid of the medium black rectangular laptop upward.",
+    "Lift the black laptop with hinge mechanism to open.",
+    "Use the left arm to open the medium black rectangular laptop",
+    "Open the black laptop with smooth matte surface carefully with the left arm.",
+    "Fully lift the black laptop with red Toshiba logo using the left arm.",
+    "Raise the folding laptop with screen and keyboard using the left arm firmly.",
+    "Use the left arm to open the sleek black Toshiba computing laptop.",
+    "Use the left arm to raise the black laptop.",
+    "Lift the medium black rectangular laptop to open it up",
+    "Raise and open the portable folding Toshiba laptop.",
+    "Pull the medium black rectangular laptop's lid upward.",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Pull up the lid of the black laptop with hinge mechanism",
+    "Use the left arm to open the black laptop with red Toshiba logo.",
+    "With the left arm, open the black laptop with red text underneath's lid.",
+    "Slide the sleek black Toshiba computing laptop open with the left arm.",
+    "Raise the top of the black laptop with red text underneath",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Lift the black laptop with red text underneath's lid using the left arm.",
+    "Pull open the Toshiba laptop with rectangular screen",
+    "Hold the black laptop with red text underneath steady, lift lid.",
+    "Raise the portable folding Toshiba laptop to expose the screen",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Open the portable folding Toshiba laptop entirely.",
+    "Use the left arm to open the foldable black laptop.",
+    "Use the left arm to lift the black laptop with smooth matte surface",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Pull the screen of the black laptop with hinge mechanism.",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Open the black laptop with red Toshiba logo by lifting its lid.",
+    "Gently lift the black laptop with red text underneath using the left arm",
+    "Raise the portable folding Toshiba laptop lid using the left arm.",
+    "Grip and lift the black laptop with smooth matte surface's lid.",
+    "Open the black laptop with red text underneath lifting with the left arm",
+    "Gently raise the Toshiba laptop with rectangular screen using the left arm.",
+    "Gently open the portable folding Toshiba laptop upward.",
+    "Open the medium black rectangular laptop completely.",
+    "Use the left arm to raise the black laptop with red Toshiba logo.",
+    "Pull the black laptop with red Toshiba logo open with the left arm.",
+    "Lift the sleek black Toshiba computing laptop open with the left arm.",
+    "Raise the black laptop with red text underneath using the left arm.",
+    "Raise the portable folding Toshiba laptop's top section.",
+    "Carefully open the black laptop with smooth matte surface using the left arm",
+    "Gently open the black laptop with red Toshiba logo.",
+    "Fully open the the black laptop with hinge mechanism.",
+    "Pull the black laptop upward lightly.",
+    "Push the medium black rectangular laptop's lid upward using the left arm.",
+    "Raise the lid of the Toshiba laptop.",
+    "Raise the Toshiba laptop lid with the left arm.",
+    "Lift the folding laptop with screen and keyboard's lid upwards.",
+    "Pull the lid of the folding laptop with screen and keyboard upward.",
+    "Lift the Toshiba laptop with rectangular screen to open.",
+    "Use the left arm to open the Toshiba laptop",
+    "Open the Toshiba laptop with rectangular screen carefully with the left arm.",
+    "Fully lift the black laptop using the left arm.",
+    "Raise the black laptop with smooth matte surface using the left arm firmly.",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "Use the left arm to raise the black laptop with red text underneath.",
+    "Lift the black laptop with smooth matte surface to open it up",
+    "Raise and open the sleek black Toshiba computing laptop.",
+    "Pull the portable folding Toshiba laptop's lid upward.",
+    "Raise the black laptop with smooth matte surface using the left arm.",
+    "Pull up the lid of the black laptop with smooth matte surface",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "With the left arm, open the sleek black Toshiba computing laptop's lid.",
+    "Slide the Toshiba laptop open with the left arm.",
+    "Raise the top of the black laptop with red text underneath",
+    "Use the left arm to raise the black laptop.",
+    "Lift the black laptop with red Toshiba logo's lid using the left arm.",
+    "Pull open the Toshiba laptop with rectangular screen",
+    "Hold the black laptop with hinge mechanism steady, lift lid."
+  ],
+  "unseen": [
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode31.json b/open_laptop/demo_clean/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..05bc62de8411471d162cfbb942d73668832bfbd4
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to raise the foldable laptop with screen.",
+    "Use the right arm to raise the compact black laptop.",
+    "Carefully open the blue base black lid laptop using the right arm",
+    "Gently open the blue-black laptop upward.",
+    "Raise and open the blue bottom foldable black laptop.",
+    "Lift the blue-black laptop open with the right arm.",
+    "Raise the blue base black lid laptop's top section.",
+    "Open the compact black laptop entirely.",
+    "Slide the compact black laptop open with the right arm.",
+    "Lift the blue bottom foldable black laptop to open.",
+    "Push the portable laptop's lid upward using the right arm.",
+    "Open the portable laptop by lifting its lid.",
+    "Gently lift the medium-sized laptop for work using the right arm",
+    "Grip and lift the blue base black lid laptop's lid.",
+    "With the right arm, open the blue-black laptop's lid.",
+    "Use the right arm to open the rectangular laptop with foldable hinge.",
+    "Gently raise the blue-black laptop using the right arm.",
+    "Pull the portable laptop upward lightly.",
+    "Pull the screen of the blue bottom foldable black laptop.",
+    "Raise the black laptop with sharp rectangular edges lid with the right arm.",
+    "Use the right arm to lift the rectangular laptop with foldable hinge",
+    "Lift the black laptop with sharp rectangular edges's lid using the right arm.",
+    "Lift the blue base black lid laptop lid completely.",
+    "Pull open the rectangular laptop with foldable hinge",
+    "Open the compact black laptop lifting with the right arm",
+    "Pull the blue-black laptop open with the right arm.",
+    "Use the right arm to open the black laptop with blue bottom panel.",
+    "Raise the medium-sized laptop for work using the right arm firmly.",
+    "Raise the black laptop with sharp rectangular edges using the right arm.",
+    "Use the right arm to raise the blue bottom foldable black laptop.",
+    "Hold the portable laptop steady, lift lid.",
+    "Raise the top of the blue-black laptop",
+    "Pull the lid of the medium-sized laptop for work upward.",
+    "Lift and open the foldable laptop with screen.",
+    "Gently open the blue base black lid laptop.",
+    "Raise the foldable laptop with screen using the right arm.",
+    "Raise the lid of the portable laptop.",
+    "Open the black laptop with sharp rectangular edges carefully with the right arm.",
+    "Lift the portable laptop to open it up",
+    "Raise the foldable laptop with screen lid using the right arm.",
+    "Raise the portable laptop to expose the screen",
+    "Open the rectangular laptop with foldable hinge completely.",
+    "Lift the compact black laptop slightly.",
+    "Use the right arm to open the rectangular laptop with foldable hinge.",
+    "Fully open the the black laptop with blue bottom panel.",
+    "Pull up the lid of the rectangular laptop with foldable hinge",
+    "Use the right arm to open the black laptop with sharp rectangular edges",
+    "Pull the black laptop with blue bottom panel's lid upward.",
+    "Lift the black laptop with sharp rectangular edges's lid upwards.",
+    "Fully lift the blue bottom foldable black laptop using the right arm.",
+    "Use the right arm to raise the black laptop with sharp rectangular edges.",
+    "Use the right arm to raise the blue-black laptop.",
+    "Carefully open the blue-black laptop using the right arm",
+    "Gently open the portable laptop upward.",
+    "Raise and open the blue-black laptop.",
+    "Lift the black-and-blue laptop with keyboard open with the right arm.",
+    "Raise the rectangular laptop with foldable hinge's top section.",
+    "Open the compact black laptop entirely.",
+    "Slide the blue-black laptop open with the right arm.",
+    "Lift the blue base black lid laptop to open.",
+    "Push the compact black laptop's lid upward using the right arm.",
+    "Open the black laptop with sharp rectangular edges by lifting its lid.",
+    "Gently lift the blue bottom foldable black laptop using the right arm",
+    "Grip and lift the blue base black lid laptop's lid.",
+    "With the right arm, open the black laptop with sharp rectangular edges's lid.",
+    "Use the right arm to open the foldable laptop with screen.",
+    "Gently raise the blue base black lid laptop using the right arm.",
+    "Pull the compact black laptop upward lightly.",
+    "Pull the screen of the black laptop with sharp rectangular edges.",
+    "Raise the blue bottom foldable black laptop lid with the right arm.",
+    "Use the right arm to lift the blue-black laptop",
+    "Lift the foldable laptop with screen's lid using the right arm.",
+    "Lift the medium-sized laptop for work lid completely.",
+    "Pull open the black laptop with sharp rectangular edges",
+    "Open the laptop for browsing and computing lifting with the right arm",
+    "Pull the black laptop with sharp rectangular edges open with the right arm.",
+    "Use the right arm to open the compact black laptop.",
+    "Raise the black laptop with blue bottom panel using the right arm firmly.",
+    "Raise the medium-sized laptop for work using the right arm.",
+    "Use the right arm to raise the black laptop with blue bottom panel.",
+    "Hold the black-and-blue laptop with keyboard steady, lift lid.",
+    "Raise the top of the portable laptop",
+    "Pull the lid of the rectangular laptop with foldable hinge upward.",
+    "Lift and open the blue base black lid laptop.",
+    "Gently open the blue bottom foldable black laptop.",
+    "Raise the compact black laptop using the right arm.",
+    "Raise the lid of the black laptop with blue bottom panel.",
+    "Open the black laptop with sharp rectangular edges carefully with the right arm.",
+    "Lift the blue base black lid laptop to open it up",
+    "Raise the blue bottom foldable black laptop lid using the right arm.",
+    "Raise the black-and-blue laptop with keyboard to expose the screen",
+    "Open the blue bottom foldable black laptop completely.",
+    "Lift the blue-black laptop slightly.",
+    "Use the right arm to open the portable laptop.",
+    "Fully open the the black laptop with sharp rectangular edges.",
+    "Pull up the lid of the black-and-blue laptop with keyboard",
+    "Use the right arm to open the black laptop with sharp rectangular edges",
+    "Pull the foldable laptop with screen's lid upward.",
+    "Lift the blue-black laptop's lid upwards.",
+    "Fully lift the laptop for browsing and computing using the right arm."
+  ],
+  "unseen": [
+    "Open the black laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop using the right arm",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop carefully using the right arm.",
+    "Lift the black laptop using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the black laptop using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the black laptop using the right arm",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the black laptop with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Grab the black laptop and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop using the right arm",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the smooth black plastic laptop with care",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the black laptop using the right arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the black laptop using the right arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the black laptop with care",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the black laptop's lid fully.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop using the right arm",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the black laptop using the right arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the smooth black plastic laptop with care",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the black laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode32.json b/open_laptop/demo_clean/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..784aab1cdc6124c4addd62fce1f290aedf2bb7b7
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the lid of the metal laptop with black keys.",
+    "Lift the lightweight silver laptop open with the left arm.",
+    "Lift the laptop with foldable screen design to open.",
+    "With the left arm, open the laptop with smooth surface's lid.",
+    "Pull the screen of the laptop with foldable screen design.",
+    "Open the laptop with black keyboard entirely.",
+    "Raise the silver laptop with dark keys to expose the screen",
+    "Lift and open the slim laptop.",
+    "Gently open the compact silver laptop.",
+    "Raise and open the metal laptop with black keys.",
+    "Use the left arm to open the metal laptop with black keys.",
+    "Raise the laptop with foldable screen design's top section.",
+    "Raise the medium-sized silver laptop lid using the left arm.",
+    "Raise the slim laptop lid with the left arm.",
+    "Push the medium-sized silver laptop's lid upward using the left arm.",
+    "Slide the rectangular laptop with screen open with the left arm.",
+    "Open the laptop with black keyboard carefully with the left arm.",
+    "Pull the laptop with smooth surface open with the left arm.",
+    "Lift the laptop with smooth surface's lid using the left arm.",
+    "Pull the lid of the portable slim laptop upward.",
+    "Gently open the laptop with metallic finish upward.",
+    "Pull open the lightweight silver laptop",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Open the medium-sized silver laptop lifting with the left arm",
+    "Use the left arm to open the slim laptop.",
+    "Open the laptop with smooth surface completely.",
+    "Carefully open the laptop with black keyboard using the left arm",
+    "Raise the laptop with smooth surface using the left arm.",
+    "Gently raise the silver laptop with dark keys using the left arm.",
+    "Lift the laptop with foldable screen design lid completely.",
+    "Raise the compact silver laptop using the left arm.",
+    "Raise the medium-sized silver laptop using the left arm firmly.",
+    "Open the rectangular laptop with screen by lifting its lid.",
+    "Use the left arm to raise the metal laptop with black keys.",
+    "Hold the laptop with foldable screen design steady, lift lid.",
+    "Grip and lift the laptop with smooth surface's lid.",
+    "Pull the silver laptop with dark keys upward lightly.",
+    "Lift the compact silver laptop to open it up",
+    "Use the left arm to raise the portable slim laptop.",
+    "Pull the silver laptop with dark keys's lid upward.",
+    "Raise the top of the rectangular laptop with screen",
+    "Use the left arm to raise the laptop with metallic finish.",
+    "Lift the metal laptop with black keys slightly.",
+    "Lift the laptop with metallic finish's lid upwards.",
+    "Gently lift the compact silver laptop using the left arm",
+    "Pull up the lid of the medium-sized silver laptop",
+    "Fully lift the rectangular laptop with screen using the left arm.",
+    "Use the left arm to lift the lightweight silver laptop",
+    "Fully open the the laptop with metallic finish.",
+    "Use the left arm to open the laptop with foldable screen design",
+    "Raise the lid of the rectangular laptop with screen.",
+    "Lift the compact silver laptop open with the left arm.",
+    "Lift the slim laptop to open.",
+    "With the left arm, open the slim laptop's lid.",
+    "Pull the screen of the metal laptop with black keys.",
+    "Open the compact silver laptop entirely.",
+    "Raise the compact silver laptop to expose the screen",
+    "Lift and open the silver laptop with dark keys.",
+    "Gently open the laptop with foldable screen design.",
+    "Raise and open the rectangular laptop with screen.",
+    "Use the left arm to open the laptop with metallic finish.",
+    "Raise the medium-sized silver laptop's top section.",
+    "Raise the slim laptop lid using the left arm.",
+    "Raise the slim laptop lid with the left arm.",
+    "Push the portable slim laptop's lid upward using the left arm.",
+    "Slide the laptop with metallic finish open with the left arm.",
+    "Open the rectangular laptop with screen carefully with the left arm.",
+    "Pull the silver laptop with dark keys open with the left arm.",
+    "Lift the rectangular laptop with screen's lid using the left arm.",
+    "Pull the lid of the slim laptop upward.",
+    "Gently open the slim laptop upward.",
+    "Pull open the rectangular laptop with screen",
+    "Use the left arm to open the lightweight silver laptop.",
+    "Open the laptop with black keyboard lifting with the left arm",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Open the lightweight silver laptop completely.",
+    "Carefully open the laptop with black keyboard using the left arm",
+    "Raise the compact silver laptop using the left arm.",
+    "Gently raise the compact silver laptop using the left arm.",
+    "Lift the laptop with foldable screen design lid completely.",
+    "Raise the portable slim laptop using the left arm.",
+    "Raise the silver laptop with dark keys using the left arm firmly.",
+    "Open the compact silver laptop by lifting its lid.",
+    "Use the left arm to raise the portable slim laptop.",
+    "Hold the silver laptop with dark keys steady, lift lid.",
+    "Grip and lift the compact silver laptop's lid.",
+    "Pull the metal laptop with black keys upward lightly.",
+    "Lift the laptop with foldable screen design to open it up",
+    "Use the left arm to raise the silver laptop with dark keys.",
+    "Pull the laptop with foldable screen design's lid upward.",
+    "Raise the top of the laptop with black keyboard",
+    "Use the left arm to raise the laptop with black keyboard.",
+    "Lift the compact silver laptop slightly.",
+    "Lift the slim laptop's lid upwards.",
+    "Gently lift the laptop with smooth surface using the left arm",
+    "Pull up the lid of the medium-sized silver laptop",
+    "Fully lift the laptop with foldable screen design using the left arm.",
+    "Use the left arm to lift the portable slim laptop",
+    "Fully open the the laptop with smooth surface.",
+    "Use the left arm to open the medium-sized silver laptop"
+  ],
+  "unseen": [
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the silver laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the foldable laptop's lid fully.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Pull up the silver laptop's lid.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the silver laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Grab the silver laptop and open it.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the foldable laptop's lid fully.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Grab the foldable laptop and open it.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the foldable laptop's lid fully.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the silver laptop's lid.",
+    "Grab the foldable laptop and open it.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Grab the silver laptop and open it.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop with care",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Grab the silver laptop and open it.",
+    "Open the silver laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop's lid fully.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the silver laptop using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Grab the foldable laptop and open it.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Grab the foldable laptop and open it.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the silver laptop using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode33.json b/open_laptop/demo_clean/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d402040ead754b220c1b6b276b0d12b24d7c59
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the portable laptop to open.",
+    "Use the left arm to open the medium-sized laptop for work.",
+    "Use the left arm to open the blue-black laptop.",
+    "Raise the lid of the blue bottom foldable black laptop.",
+    "Use the left arm to lift the blue bottom foldable black laptop",
+    "Raise the blue bottom foldable black laptop using the left arm.",
+    "Lift and open the black-and-blue laptop with keyboard.",
+    "Use the left arm to raise the blue-black laptop.",
+    "Raise and open the rectangular laptop with foldable hinge.",
+    "Open the black laptop with sharp rectangular edges carefully with the left arm.",
+    "Raise the foldable laptop with screen using the left arm.",
+    "Raise the compact black laptop to expose the screen",
+    "Gently raise the compact black laptop using the left arm.",
+    "Lift the black-and-blue laptop with keyboard lid completely.",
+    "Gently open the blue-black laptop.",
+    "Fully open the the compact black laptop.",
+    "Pull the screen of the portable laptop.",
+    "Lift the rectangular laptop with foldable hinge slightly.",
+    "Lift the foldable laptop with screen open with the left arm.",
+    "Raise the top of the black-and-blue laptop with keyboard",
+    "Gently lift the blue bottom foldable black laptop using the left arm",
+    "Push the blue-black laptop's lid upward using the left arm.",
+    "Pull the lid of the compact black laptop upward.",
+    "Hold the portable laptop steady, lift lid.",
+    "Carefully open the portable laptop using the left arm",
+    "Pull the foldable laptop with screen's lid upward.",
+    "Pull up the lid of the medium-sized laptop for work",
+    "Raise the black laptop with blue bottom panel's top section.",
+    "Lift the black laptop with blue bottom panel to open it up",
+    "Open the black laptop with sharp rectangular edges entirely.",
+    "Pull the blue-black laptop open with the left arm.",
+    "Fully lift the black laptop with blue bottom panel using the left arm.",
+    "Use the left arm to raise the medium-sized laptop for work.",
+    "With the left arm, open the black laptop with blue bottom panel's lid.",
+    "Use the left arm to open the portable laptop.",
+    "Raise the foldable laptop with screen lid with the left arm.",
+    "Open the black-and-blue laptop with keyboard lifting with the left arm",
+    "Raise the laptop for browsing and computing using the left arm firmly.",
+    "Open the blue base black lid laptop completely.",
+    "Use the left arm to raise the rectangular laptop with foldable hinge.",
+    "Open the blue bottom foldable black laptop by lifting its lid.",
+    "Slide the blue bottom foldable black laptop open with the left arm.",
+    "Use the left arm to open the black-and-blue laptop with keyboard",
+    "Lift the blue bottom foldable black laptop's lid using the left arm.",
+    "Lift the black laptop with blue bottom panel's lid upwards.",
+    "Pull open the medium-sized laptop for work",
+    "Gently open the black-and-blue laptop with keyboard upward.",
+    "Grip and lift the portable laptop's lid.",
+    "Raise the blue bottom foldable black laptop lid using the left arm.",
+    "Pull the black laptop with blue bottom panel upward lightly.",
+    "Lift the black-and-blue laptop with keyboard to open.",
+    "Use the left arm to open the black laptop with blue bottom panel.",
+    "Use the left arm to open the laptop for browsing and computing.",
+    "Raise the lid of the blue bottom foldable black laptop.",
+    "Use the left arm to lift the black laptop with sharp rectangular edges",
+    "Raise the black-and-blue laptop with keyboard using the left arm.",
+    "Lift and open the black-and-blue laptop with keyboard.",
+    "Use the left arm to raise the blue base black lid laptop.",
+    "Raise and open the black laptop with blue bottom panel.",
+    "Open the foldable laptop with screen carefully with the left arm.",
+    "Raise the rectangular laptop with foldable hinge using the left arm.",
+    "Raise the blue-black laptop to expose the screen",
+    "Gently raise the black laptop with sharp rectangular edges using the left arm.",
+    "Lift the laptop for browsing and computing lid completely.",
+    "Gently open the compact black laptop.",
+    "Fully open the the compact black laptop.",
+    "Pull the screen of the black laptop with sharp rectangular edges.",
+    "Lift the laptop for browsing and computing slightly.",
+    "Lift the foldable laptop with screen open with the left arm.",
+    "Raise the top of the black laptop with sharp rectangular edges",
+    "Gently lift the black laptop with blue bottom panel using the left arm",
+    "Push the blue bottom foldable black laptop's lid upward using the left arm.",
+    "Pull the lid of the portable laptop upward.",
+    "Hold the black laptop with sharp rectangular edges steady, lift lid.",
+    "Carefully open the blue bottom foldable black laptop using the left arm",
+    "Pull the medium-sized laptop for work's lid upward.",
+    "Pull up the lid of the black laptop with sharp rectangular edges",
+    "Raise the black laptop with sharp rectangular edges's top section.",
+    "Lift the rectangular laptop with foldable hinge to open it up",
+    "Open the foldable laptop with screen entirely.",
+    "Pull the medium-sized laptop for work open with the left arm.",
+    "Fully lift the compact black laptop using the left arm.",
+    "Use the left arm to raise the blue-black laptop.",
+    "With the left arm, open the black laptop with sharp rectangular edges's lid.",
+    "Use the left arm to open the blue base black lid laptop.",
+    "Raise the foldable laptop with screen lid with the left arm.",
+    "Open the black-and-blue laptop with keyboard lifting with the left arm",
+    "Raise the black-and-blue laptop with keyboard using the left arm firmly.",
+    "Open the foldable laptop with screen completely.",
+    "Use the left arm to raise the medium-sized laptop for work.",
+    "Open the black laptop with sharp rectangular edges by lifting its lid.",
+    "Slide the blue base black lid laptop open with the left arm.",
+    "Use the left arm to open the foldable laptop with screen",
+    "Lift the blue base black lid laptop's lid using the left arm.",
+    "Lift the foldable laptop with screen's lid upwards.",
+    "Pull open the portable laptop",
+    "Gently open the laptop for browsing and computing upward.",
+    "Grip and lift the black laptop with blue bottom panel's lid.",
+    "Raise the laptop for browsing and computing lid using the left arm.",
+    "Pull the black laptop with sharp rectangular edges upward lightly."
+  ],
+  "unseen": [
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the black laptop with care",
+    "Lift the black laptop using the left arm.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Lift the black laptop's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the black laptop with care",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the black laptop carefully using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Grab the black laptop and open it.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Open the black laptop with care",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the black laptop using the left arm",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the black laptop using the left arm.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Open the black laptop with care",
+    "Lift the black laptop using the left arm.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the black laptop using the left arm",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the black laptop using the left arm.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Lift the black laptop's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode34.json b/open_laptop/demo_clean/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b38295caca6921db8fc80adfe25e1f1b1d46d7d
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the compact black laptop lifting with the right arm",
+    "Use the right arm to raise the black laptop with red accents.",
+    "Grip and lift the laptop featuring textured exterior's lid.",
+    "Open the sleek laptop design by lifting its lid.",
+    "Raise the medium-sized laptop with black body using the right arm firmly.",
+    "Pull the lid of the lightweight laptop upward.",
+    "Lift the black metallic laptop open with the right arm.",
+    "Raise the laptop with screen and keyboard lid using the right arm.",
+    "Pull the screen of the hinged laptop with screen and base.",
+    "Fully open the the laptop featuring textured exterior.",
+    "Pull open the hinged laptop with screen and base",
+    "Raise the black metallic laptop's top section.",
+    "Use the right arm to lift the sleek laptop design",
+    "Raise the black metallic laptop using the right arm.",
+    "Open the lightweight laptop carefully with the right arm.",
+    "Raise the black laptop using the right arm.",
+    "Lift the medium-sized laptop with black body lid completely.",
+    "Raise the top of the laptop featuring textured exterior",
+    "Gently open the medium-sized laptop with black body.",
+    "Use the right arm to open the foldable laptop with patterned keyboard.",
+    "Raise the black laptop with red accents to expose the screen",
+    "Use the right arm to open the black laptop with red accents.",
+    "Lift the black laptop's lid upwards.",
+    "Use the right arm to raise the laptop with red logo underside.",
+    "Slide the sleek laptop design open with the right arm.",
+    "Raise the lid of the lightweight laptop.",
+    "Open the hinged laptop with screen and base completely.",
+    "Pull the lightweight laptop's lid upward.",
+    "Lift the sleek laptop design slightly.",
+    "With the right arm, open the sleek laptop design's lid.",
+    "Hold the medium-sized laptop with black body steady, lift lid.",
+    "Use the right arm to open the black metallic laptop.",
+    "Lift the lightweight laptop to open it up",
+    "Pull the sleek laptop design open with the right arm.",
+    "Lift the black laptop with red accents's lid using the right arm.",
+    "Push the medium-sized laptop with black body's lid upward using the right arm.",
+    "Pull the laptop featuring textured exterior upward lightly.",
+    "Lift the black laptop with red accents to open.",
+    "Raise and open the lightweight laptop.",
+    "Carefully open the laptop featuring textured exterior using the right arm",
+    "Gently raise the medium-sized laptop with black body using the right arm.",
+    "Open the laptop with red logo underside entirely.",
+    "Pull up the lid of the laptop with screen and keyboard",
+    "Raise the black metallic laptop lid with the right arm.",
+    "Fully lift the laptop with red logo underside using the right arm.",
+    "Gently lift the laptop with screen and keyboard using the right arm",
+    "Lift and open the lightweight laptop.",
+    "Gently open the hinged laptop with screen and base upward.",
+    "Use the right arm to open the laptop featuring textured exterior",
+    "Use the right arm to raise the laptop with screen and keyboard.",
+    "Open the laptop featuring textured exterior lifting with the right arm",
+    "Use the right arm to raise the lightweight laptop.",
+    "Grip and lift the laptop featuring textured exterior's lid.",
+    "Open the laptop featuring textured exterior by lifting its lid.",
+    "Raise the medium-sized laptop with black body using the right arm firmly.",
+    "Pull the lid of the compact black laptop upward.",
+    "Lift the laptop with red logo underside open with the right arm.",
+    "Raise the laptop with screen and keyboard lid using the right arm.",
+    "Pull the screen of the hinged laptop with screen and base.",
+    "Fully open the the compact black laptop.",
+    "Pull open the medium-sized laptop with black body",
+    "Raise the black metallic laptop's top section.",
+    "Use the right arm to lift the foldable laptop with patterned keyboard",
+    "Raise the laptop with screen and keyboard using the right arm.",
+    "Open the black laptop with red accents carefully with the right arm.",
+    "Raise the black laptop using the right arm.",
+    "Lift the black laptop lid completely.",
+    "Raise the top of the foldable laptop with patterned keyboard",
+    "Gently open the laptop featuring textured exterior.",
+    "Use the right arm to open the black laptop with red accents.",
+    "Raise the laptop with red logo underside to expose the screen",
+    "Use the right arm to open the sleek laptop design.",
+    "Lift the black metallic laptop's lid upwards.",
+    "Use the right arm to raise the compact black laptop.",
+    "Slide the laptop with screen and keyboard open with the right arm.",
+    "Raise the lid of the laptop with screen and keyboard.",
+    "Open the black laptop completely.",
+    "Pull the black laptop's lid upward.",
+    "Lift the medium-sized laptop with black body slightly.",
+    "With the right arm, open the medium-sized laptop with black body's lid.",
+    "Hold the black laptop with red accents steady, lift lid.",
+    "Use the right arm to open the laptop with red logo underside.",
+    "Lift the hinged laptop with screen and base to open it up",
+    "Pull the laptop with screen and keyboard open with the right arm.",
+    "Lift the medium-sized laptop with black body's lid using the right arm.",
+    "Push the black laptop with red accents's lid upward using the right arm.",
+    "Pull the medium-sized laptop with black body upward lightly.",
+    "Lift the black metallic laptop to open.",
+    "Raise and open the lightweight laptop.",
+    "Carefully open the laptop featuring textured exterior using the right arm",
+    "Gently raise the sleek laptop design using the right arm.",
+    "Open the foldable laptop with patterned keyboard entirely.",
+    "Pull up the lid of the compact black laptop",
+    "Raise the black laptop lid with the right arm.",
+    "Fully lift the black metallic laptop using the right arm.",
+    "Gently lift the compact black laptop using the right arm",
+    "Lift and open the hinged laptop with screen and base.",
+    "Gently open the black laptop with red accents upward.",
+    "Use the right arm to open the laptop featuring textured exterior",
+    "Use the right arm to raise the sleek laptop design."
+  ],
+  "unseen": [
+    "Open the portable laptop carefully using the right arm.",
+    "Lift the portable laptop using the right arm.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Pull up the portable laptop's lid.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the portable laptop with one motion.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop's lid gently.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the portable laptop using the right arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the portable laptop with one motion.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop using the right arm",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Lift the portable laptop using the right arm.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Open the portable laptop with one motion.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop's lid gently.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the portable laptop's lid fully.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop's lid gently.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Lift the portable laptop using the right arm.",
+    "Open the portable laptop using the right arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the portable laptop with one motion.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Pull up the portable laptop's lid.",
+    "Lift the portable laptop's lid fully.",
+    "Lift the portable laptop using the right arm",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Grab the portable laptop and open it.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop's lid gently.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop using the right arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the portable laptop with one motion.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Pull up the portable laptop's lid.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode35.json b/open_laptop/demo_clean/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d5a49f02ff9afa37f0dbcc952cbf4c6e59e33fc
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift and open the black laptop.",
+    "Use the left arm to raise the lightweight laptop.",
+    "Pull the laptop with screen and keyboard upward lightly.",
+    "Open the sleek laptop design lifting with the left arm",
+    "Use the left arm to lift the laptop featuring textured exterior",
+    "Open the sleek laptop design by lifting its lid.",
+    "Use the left arm to raise the laptop with red logo underside.",
+    "Raise the top of the laptop featuring textured exterior",
+    "Pull the screen of the compact black laptop.",
+    "Pull the lightweight laptop's lid upward.",
+    "Pull open the laptop with screen and keyboard",
+    "Lift the laptop with red logo underside open with the left arm.",
+    "Fully open the the black laptop.",
+    "Raise the medium-sized laptop with black body to expose the screen",
+    "Lift the medium-sized laptop with black body's lid using the left arm.",
+    "With the left arm, open the black laptop's lid.",
+    "Raise the compact black laptop using the left arm.",
+    "Push the hinged laptop with screen and base's lid upward using the left arm.",
+    "Pull up the lid of the laptop with screen and keyboard",
+    "Hold the laptop with red logo underside steady, lift lid.",
+    "Lift the hinged laptop with screen and base lid completely.",
+    "Lift the laptop with red logo underside slightly.",
+    "Gently lift the foldable laptop with patterned keyboard using the left arm",
+    "Gently open the sleek laptop design upward.",
+    "Gently raise the medium-sized laptop with black body using the left arm.",
+    "Raise the black metallic laptop lid using the left arm.",
+    "Use the left arm to open the black laptop.",
+    "Open the compact black laptop completely.",
+    "Raise the hinged laptop with screen and base using the left arm.",
+    "Gently open the lightweight laptop.",
+    "Fully lift the laptop featuring textured exterior using the left arm.",
+    "Open the lightweight laptop entirely.",
+    "Raise the lid of the laptop featuring textured exterior.",
+    "Slide the foldable laptop with patterned keyboard open with the left arm.",
+    "Use the left arm to open the foldable laptop with patterned keyboard.",
+    "Grip and lift the hinged laptop with screen and base's lid.",
+    "Carefully open the laptop featuring textured exterior using the left arm",
+    "Open the sleek laptop design carefully with the left arm.",
+    "Use the left arm to open the black laptop.",
+    "Lift the sleek laptop design to open it up",
+    "Pull the lid of the laptop with red logo underside upward.",
+    "Raise the hinged laptop with screen and base lid with the left arm.",
+    "Lift the compact black laptop to open.",
+    "Pull the black laptop open with the left arm.",
+    "Raise the sleek laptop design using the left arm firmly.",
+    "Raise the laptop featuring textured exterior's top section.",
+    "Lift the black laptop's lid upwards.",
+    "Use the left arm to raise the foldable laptop with patterned keyboard.",
+    "Raise and open the laptop with screen and keyboard.",
+    "Use the left arm to open the laptop with red logo underside",
+    "Lift and open the laptop featuring textured exterior.",
+    "Use the left arm to raise the black laptop with red accents.",
+    "Pull the lightweight laptop upward lightly.",
+    "Open the foldable laptop with patterned keyboard lifting with the left arm",
+    "Use the left arm to lift the black laptop with red accents",
+    "Open the lightweight laptop by lifting its lid.",
+    "Use the left arm to raise the black metallic laptop.",
+    "Raise the top of the foldable laptop with patterned keyboard",
+    "Pull the screen of the laptop with screen and keyboard.",
+    "Pull the laptop with red logo underside's lid upward.",
+    "Pull open the laptop featuring textured exterior",
+    "Lift the black metallic laptop open with the left arm.",
+    "Fully open the the black laptop.",
+    "Raise the black metallic laptop to expose the screen",
+    "Lift the laptop featuring textured exterior's lid using the left arm.",
+    "With the left arm, open the laptop with screen and keyboard's lid.",
+    "Raise the foldable laptop with patterned keyboard using the left arm.",
+    "Push the hinged laptop with screen and base's lid upward using the left arm.",
+    "Pull up the lid of the medium-sized laptop with black body",
+    "Hold the black laptop steady, lift lid.",
+    "Lift the medium-sized laptop with black body lid completely.",
+    "Lift the laptop featuring textured exterior slightly.",
+    "Gently lift the laptop with red logo underside using the left arm",
+    "Gently open the black metallic laptop upward.",
+    "Gently raise the laptop with screen and keyboard using the left arm.",
+    "Raise the laptop with red logo underside lid using the left arm.",
+    "Use the left arm to open the black metallic laptop.",
+    "Open the medium-sized laptop with black body completely.",
+    "Raise the hinged laptop with screen and base using the left arm.",
+    "Gently open the compact black laptop.",
+    "Fully lift the hinged laptop with screen and base using the left arm.",
+    "Open the laptop with screen and keyboard entirely.",
+    "Raise the lid of the laptop with screen and keyboard.",
+    "Slide the laptop with red logo underside open with the left arm.",
+    "Use the left arm to open the black laptop with red accents.",
+    "Grip and lift the compact black laptop's lid.",
+    "Carefully open the laptop with screen and keyboard using the left arm",
+    "Open the laptop with screen and keyboard carefully with the left arm.",
+    "Use the left arm to open the black laptop.",
+    "Lift the foldable laptop with patterned keyboard to open it up",
+    "Pull the lid of the laptop with screen and keyboard upward.",
+    "Raise the black metallic laptop lid with the left arm.",
+    "Lift the black laptop with red accents to open.",
+    "Pull the laptop featuring textured exterior open with the left arm.",
+    "Raise the sleek laptop design using the left arm firmly.",
+    "Raise the lightweight laptop's top section.",
+    "Lift the black laptop's lid upwards.",
+    "Use the left arm to raise the black laptop with red accents.",
+    "Raise and open the black laptop.",
+    "Use the left arm to open the black laptop with red accents"
+  ],
+  "unseen": [
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the portable laptop using the left arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the portable laptop with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the portable laptop using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the portable laptop using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the portable laptop with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the portable laptop using the left arm",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the portable laptop and open it.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the portable laptop with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode36.json b/open_laptop/demo_clean/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..d721277e7df0b54edfcd6018fcbae2d191f83a4a
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to raise the black and silver portable laptop.",
+    "Pull the lid of the black and silver portable laptop upward.",
+    "Lift the rectangular laptop with folding hinge to open it up",
+    "Raise the rectangular laptop with smooth texture lid using the left arm.",
+    "Gently lift the black laptop using the left arm",
+    "Gently open the clamshell laptop with flat screen upward.",
+    "Use the left arm to raise the clamshell laptop with flat screen.",
+    "Use the left arm to open the laptop with shiny black surface",
+    "With the left arm, open the black laptop with smooth body's lid.",
+    "Use the left arm to open the black laptop.",
+    "Raise the lid of the laptop featuring built-in keyboard.",
+    "Fully lift the black laptop with smooth body using the left arm.",
+    "Pull open the rectangular laptop with smooth texture",
+    "Lift the black laptop to open.",
+    "Raise the rectangular laptop with smooth texture using the left arm firmly.",
+    "Lift and open the laptop with silver keyboard.",
+    "Lift the rectangular laptop with smooth texture slightly.",
+    "Raise and open the laptop with shiny black surface.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Pull up the lid of the clamshell laptop with flat screen",
+    "Raise the clamshell laptop with flat screen to expose the screen",
+    "Pull the laptop with shiny black surface upward lightly.",
+    "Open the laptop with wide black lid by lifting its lid.",
+    "Open the laptop with silver buttons on keyboard completely.",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Fully open the the rectangular laptop with smooth texture.",
+    "Lift the black laptop lid completely.",
+    "Use the left arm to lift the laptop with wide black lid",
+    "Open the laptop with silver buttons on keyboard carefully with the left arm.",
+    "Raise the black laptop's top section.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Gently raise the laptop with silver buttons on keyboard using the left arm.",
+    "Open the clamshell laptop with flat screen entirely.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Carefully open the black laptop using the left arm",
+    "Lift the rectangular laptop with smooth texture's lid using the left arm.",
+    "Lift the rectangular laptop with folding hinge open with the left arm.",
+    "Raise the black laptop lid with the left arm.",
+    "Use the left arm to raise the laptop with rectangular display screen.",
+    "Raise the black and silver portable laptop using the left arm.",
+    "Raise the top of the laptop with silver keyboard",
+    "Pull the rectangular laptop with smooth texture's lid upward.",
+    "Pull the screen of the rectangular laptop with folding hinge.",
+    "Raise the rectangular laptop with smooth texture using the left arm.",
+    "Pull the laptop with wide black lid open with the left arm.",
+    "Use the left arm to open the black laptop with smooth body.",
+    "Slide the laptop with rectangular display screen open with the left arm.",
+    "Push the laptop with wide black lid's lid upward using the left arm.",
+    "Open the laptop featuring built-in keyboard lifting with the left arm",
+    "Gently open the clamshell laptop with flat screen.",
+    "Use the left arm to raise the black and silver portable laptop.",
+    "Pull the lid of the laptop with rectangular display screen upward.",
+    "Lift the black laptop to open it up",
+    "Raise the clamshell laptop with flat screen lid using the left arm.",
+    "Gently lift the laptop with silver buttons on keyboard using the left arm",
+    "Gently open the rectangular laptop with smooth texture upward.",
+    "Use the left arm to raise the laptop with shiny black surface.",
+    "Use the left arm to open the laptop featuring built-in keyboard",
+    "With the left arm, open the laptop with silver buttons on keyboard's lid.",
+    "Use the left arm to open the laptop with silver buttons on keyboard.",
+    "Raise the lid of the laptop featuring built-in keyboard.",
+    "Fully lift the rectangular laptop with folding hinge using the left arm.",
+    "Pull open the laptop featuring built-in keyboard",
+    "Lift the laptop with silver keyboard to open.",
+    "Raise the black and silver portable laptop using the left arm firmly.",
+    "Lift and open the black laptop with smooth body.",
+    "Lift the laptop with shiny black surface slightly.",
+    "Raise and open the laptop with shiny black surface.",
+    "Use the left arm to open the clamshell laptop with flat screen.",
+    "Pull up the lid of the laptop with silver buttons on keyboard",
+    "Raise the laptop featuring built-in keyboard to expose the screen",
+    "Pull the laptop featuring built-in keyboard upward lightly.",
+    "Open the rectangular laptop with folding hinge by lifting its lid.",
+    "Open the laptop with wide black lid completely.",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Fully open the the laptop with rectangular display screen.",
+    "Lift the black and silver portable laptop lid completely.",
+    "Use the left arm to lift the laptop with silver buttons on keyboard",
+    "Open the laptop featuring built-in keyboard carefully with the left arm.",
+    "Raise the black laptop with smooth body's top section.",
+    "Lift the rectangular laptop with folding hinge's lid upwards.",
+    "Gently raise the laptop with rectangular display screen using the left arm.",
+    "Open the laptop with wide black lid entirely.",
+    "Hold the laptop with shiny black surface steady, lift lid.",
+    "Carefully open the laptop featuring built-in keyboard using the left arm",
+    "Lift the laptop with silver keyboard's lid using the left arm.",
+    "Lift the rectangular laptop with smooth texture open with the left arm.",
+    "Raise the laptop with wide black lid lid with the left arm.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Raise the black and silver portable laptop using the left arm.",
+    "Raise the top of the laptop with wide black lid",
+    "Pull the laptop with silver buttons on keyboard's lid upward.",
+    "Pull the screen of the laptop featuring built-in keyboard.",
+    "Raise the laptop with rectangular display screen using the left arm.",
+    "Pull the laptop featuring built-in keyboard open with the left arm.",
+    "Use the left arm to open the laptop with silver buttons on keyboard.",
+    "Slide the laptop with shiny black surface open with the left arm.",
+    "Push the laptop with silver keyboard's lid upward using the left arm.",
+    "Open the laptop with rectangular display screen lifting with the left arm",
+    "Gently open the clamshell laptop with flat screen."
+  ],
+  "unseen": [
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case using the left arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case using the left arm.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case using the left arm.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the left arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case using the left arm.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case using the left arm.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode37.json b/open_laptop/demo_clean/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..b36db3c45c8e9345051aa87122517f923cc7be84
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the medium-sized laptop carefully with the right arm.",
+    "Lift the laptop with smooth texture's lid using the right arm.",
+    "Use the right arm to open the laptop with blue screen.",
+    "Hold the hinged laptop with display steady, lift lid.",
+    "Gently open the laptop with blue screen upward.",
+    "Lift the medium-sized laptop lid completely.",
+    "Raise the laptop with glass screen using the right arm.",
+    "With the right arm, open the hinged laptop with display's lid.",
+    "Lift the hinged laptop with display to open.",
+    "Use the right arm to raise the portable silver laptop.",
+    "Gently open the laptop with smooth texture.",
+    "Raise the lid of the medium-sized laptop.",
+    "Gently lift the hinged laptop with display using the right arm",
+    "Use the right arm to open the laptop with smooth texture.",
+    "Open the rectangular laptop with hinge completely.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Raise the top of the laptop for computing",
+    "Open the blue-screen laptop entirely.",
+    "Use the right arm to open the laptop with smooth texture",
+    "Use the right arm to raise the laptop with glass screen.",
+    "Push the laptop with blue screen's lid upward using the right arm.",
+    "Use the right arm to lift the hinged laptop with display",
+    "Raise the blue-screen laptop using the right arm.",
+    "Fully lift the laptop featuring smooth metal finish using the right arm.",
+    "Grip and lift the metallic laptop's lid.",
+    "Raise the laptop with glass screen lid with the right arm.",
+    "Lift the hinged laptop with display to open it up",
+    "Raise the blue-screen laptop to expose the screen",
+    "Pull the hinged laptop with display upward lightly.",
+    "Fully open the the laptop with blue screen.",
+    "Lift and open the blue-screen laptop.",
+    "Raise and open the laptop with smooth texture.",
+    "Pull up the lid of the laptop for computing",
+    "Lift the laptop with silver base open with the right arm.",
+    "Open the laptop with silver base lifting with the right arm",
+    "Pull the lid of the metallic laptop upward.",
+    "Pull open the portable silver laptop",
+    "Lift the portable silver laptop slightly.",
+    "Pull the metallic laptop's lid upward.",
+    "Open the laptop with smooth texture by lifting its lid.",
+    "Raise the blue-screen laptop's top section.",
+    "Carefully open the hinged laptop with display using the right arm",
+    "Use the right arm to open the laptop with glass screen.",
+    "Pull the hinged laptop with display open with the right arm.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Raise the laptop with blue screen lid using the right arm.",
+    "Raise the blue-screen laptop using the right arm firmly.",
+    "Pull the screen of the laptop with silver base.",
+    "Slide the laptop with blue screen open with the right arm.",
+    "Lift the laptop with silver base's lid upwards.",
+    "Open the metallic laptop carefully with the right arm.",
+    "Lift the rectangular laptop with hinge's lid using the right arm.",
+    "Use the right arm to open the rectangular laptop with hinge.",
+    "Hold the blue-screen laptop steady, lift lid.",
+    "Gently open the laptop with silver base upward.",
+    "Lift the laptop with blue screen lid completely.",
+    "Raise the laptop with silver base using the right arm.",
+    "With the right arm, open the laptop with glass screen's lid.",
+    "Lift the rectangular laptop with hinge to open.",
+    "Use the right arm to raise the blue-screen laptop.",
+    "Gently open the laptop for computing.",
+    "Raise the lid of the medium-sized laptop.",
+    "Gently lift the blue-screen laptop using the right arm",
+    "Use the right arm to open the laptop with smooth texture.",
+    "Open the laptop with blue screen completely.",
+    "Gently raise the laptop for computing using the right arm.",
+    "Raise the top of the laptop featuring smooth metal finish",
+    "Open the metallic laptop entirely.",
+    "Use the right arm to open the metallic laptop",
+    "Use the right arm to raise the laptop featuring smooth metal finish.",
+    "Push the hinged laptop with display's lid upward using the right arm.",
+    "Use the right arm to lift the portable silver laptop",
+    "Raise the laptop with silver base using the right arm.",
+    "Fully lift the metallic laptop using the right arm.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Raise the hinged laptop with display lid with the right arm.",
+    "Lift the rectangular laptop with hinge to open it up",
+    "Raise the medium-sized laptop to expose the screen",
+    "Pull the rectangular laptop with hinge upward lightly.",
+    "Fully open the the laptop featuring smooth metal finish.",
+    "Lift and open the rectangular laptop with hinge.",
+    "Raise and open the rectangular laptop with hinge.",
+    "Pull up the lid of the laptop with blue screen",
+    "Lift the laptop with smooth texture open with the right arm.",
+    "Open the laptop featuring smooth metal finish lifting with the right arm",
+    "Pull the lid of the laptop featuring smooth metal finish upward.",
+    "Pull open the laptop with glass screen",
+    "Lift the laptop for computing slightly.",
+    "Pull the laptop with smooth texture's lid upward.",
+    "Open the blue-screen laptop by lifting its lid.",
+    "Raise the laptop with glass screen's top section.",
+    "Carefully open the portable silver laptop using the right arm",
+    "Use the right arm to open the laptop featuring smooth metal finish.",
+    "Pull the metallic laptop open with the right arm.",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Raise the laptop with silver base lid using the right arm.",
+    "Raise the metallic laptop using the right arm firmly.",
+    "Pull the screen of the portable silver laptop.",
+    "Slide the metallic laptop open with the right arm.",
+    "Lift the metallic laptop's lid upwards."
+  ],
+  "unseen": [
+    "Open the sleek laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the compact silver laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop with care",
+    "Open the compact silver laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop using the right arm.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop with care",
+    "Open the sleek laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the compact silver laptop using the right arm.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop with care",
+    "Open the sleek laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop using the right arm.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the sleek laptop with care",
+    "Open the silver laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop with care",
+    "Open the silver laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop with care",
+    "Open the compact silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop using the right arm.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop with care",
+    "Open the silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the silver laptop using the right arm.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Open the sleek laptop with care",
+    "Open the silver laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the compact silver laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Open the compact silver laptop with care",
+    "Open the compact silver laptop with one motion.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the sleek laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Open the compact silver laptop with care"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode38.json b/open_laptop/demo_clean/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..3835fbdd6d8bd55172fa2b98d1f250522afd4d8d
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the sleek black laptop with blue monitor lifting with the left arm",
+    "Open the rectangular black laptop carefully with the left arm.",
+    "Slide the laptop with smooth keyboard area open with the left arm.",
+    "Pull the screen and keyboard laptop's lid upward.",
+    "Raise the rectangular black laptop using the left arm.",
+    "Pull the lid of the laptop with smooth matte surface upward.",
+    "Gently open the blue-screen laptop with flat keys upward.",
+    "Use the left arm to lift the sleek black laptop with blue monitor",
+    "Gently open the sleek black laptop with blue monitor.",
+    "Use the left arm to open the sleek black laptop with blue monitor.",
+    "Open the portable folding laptop completely.",
+    "With the left arm, open the laptop with blue screen's lid.",
+    "Raise the sleek black laptop with blue monitor's top section.",
+    "Grip and lift the laptop with smooth keyboard area's lid.",
+    "Pull the laptop with rectangular base upward lightly.",
+    "Open the rectangular black laptop entirely.",
+    "Open the screen and keyboard laptop by lifting its lid.",
+    "Lift the portable folding laptop's lid using the left arm.",
+    "Raise and open the black plastic laptop with blue display.",
+    "Lift the screen and keyboard laptop's lid upwards.",
+    "Use the left arm to raise the sleek black laptop with blue monitor.",
+    "Gently lift the portable folding laptop using the left arm",
+    "Pull up the lid of the laptop with smooth keyboard area",
+    "Carefully open the screen and keyboard laptop using the left arm",
+    "Fully open the the laptop with blue screen.",
+    "Raise the folding laptop with black exterior using the left arm firmly.",
+    "Raise the top of the laptop with smooth matte surface",
+    "Raise the portable folding laptop lid using the left arm.",
+    "Use the left arm to open the screen and keyboard laptop",
+    "Raise the lid of the laptop with smooth matte surface.",
+    "Lift the black laptop lid completely.",
+    "Raise the laptop with smooth matte surface using the left arm.",
+    "Push the laptop with blue screen's lid upward using the left arm.",
+    "Lift the rectangular black laptop to open it up",
+    "Use the left arm to open the black laptop.",
+    "Hold the laptop with blue screen steady, lift lid.",
+    "Raise the sleek black laptop with blue monitor lid with the left arm.",
+    "Lift the laptop with rectangular base open with the left arm.",
+    "Pull open the laptop with rectangular base",
+    "Fully lift the laptop with smooth matte surface using the left arm.",
+    "Use the left arm to open the portable folding laptop.",
+    "Lift the sleek black laptop with blue monitor to open.",
+    "Lift the folding laptop with black exterior slightly.",
+    "Raise the blue-screen laptop with flat keys to expose the screen",
+    "Lift and open the laptop with smooth keyboard area.",
+    "Pull the portable folding laptop open with the left arm.",
+    "Use the left arm to raise the laptop with blue screen.",
+    "Use the left arm to raise the laptop with rectangular base.",
+    "Gently raise the sleek black laptop with blue monitor using the left arm.",
+    "Pull the screen of the laptop with smooth keyboard area.",
+    "Open the blue-screen laptop with flat keys lifting with the left arm",
+    "Open the black plastic laptop with blue display carefully with the left arm.",
+    "Slide the rectangular black laptop open with the left arm.",
+    "Pull the black plastic laptop with blue display's lid upward.",
+    "Raise the screen and keyboard laptop using the left arm.",
+    "Pull the lid of the laptop with smooth keyboard area upward.",
+    "Gently open the laptop with smooth keyboard area upward.",
+    "Use the left arm to lift the screen and keyboard laptop",
+    "Gently open the laptop with rectangular base.",
+    "Use the left arm to open the laptop with rectangular base.",
+    "Open the black plastic laptop with blue display completely.",
+    "With the left arm, open the rectangular black laptop's lid.",
+    "Raise the laptop with rectangular base's top section.",
+    "Grip and lift the sleek black laptop with blue monitor's lid.",
+    "Pull the screen and keyboard laptop upward lightly.",
+    "Open the sleek black laptop with blue monitor entirely.",
+    "Open the laptop with rectangular base by lifting its lid.",
+    "Lift the rectangular black laptop's lid using the left arm.",
+    "Raise and open the black laptop.",
+    "Lift the screen and keyboard laptop's lid upwards.",
+    "Use the left arm to raise the laptop with blue screen.",
+    "Gently lift the portable folding laptop using the left arm",
+    "Pull up the lid of the blue-screen laptop with flat keys",
+    "Carefully open the laptop with rectangular base using the left arm",
+    "Fully open the the black laptop.",
+    "Raise the laptop with smooth matte surface using the left arm firmly.",
+    "Raise the top of the laptop with smooth matte surface",
+    "Raise the laptop with smooth matte surface lid using the left arm.",
+    "Use the left arm to open the black laptop",
+    "Raise the lid of the folding laptop with black exterior.",
+    "Lift the rectangular black laptop lid completely.",
+    "Raise the laptop with blue screen using the left arm.",
+    "Push the laptop with smooth matte surface's lid upward using the left arm.",
+    "Lift the screen and keyboard laptop to open it up",
+    "Use the left arm to open the folding laptop with black exterior.",
+    "Hold the black plastic laptop with blue display steady, lift lid.",
+    "Raise the blue-screen laptop with flat keys lid with the left arm.",
+    "Lift the screen and keyboard laptop open with the left arm.",
+    "Pull open the laptop with rectangular base",
+    "Fully lift the laptop with rectangular base using the left arm.",
+    "Use the left arm to open the laptop with smooth matte surface.",
+    "Lift the laptop with smooth matte surface to open.",
+    "Lift the laptop with rectangular base slightly.",
+    "Raise the screen and keyboard laptop to expose the screen",
+    "Lift and open the laptop with smooth keyboard area.",
+    "Pull the rectangular black laptop open with the left arm.",
+    "Use the left arm to raise the laptop with rectangular base.",
+    "Use the left arm to raise the blue-screen laptop with flat keys.",
+    "Gently raise the screen and keyboard laptop using the left arm.",
+    "Pull the screen of the laptop with blue screen."
+  ],
+  "unseen": [
+    "Lift the black laptop with compact design using the left arm",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Grab the black laptop with compact design and open it.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Open the medium-sized black laptop with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Open the medium-sized black laptop with care",
+    "Lift the black laptop with compact design using the left arm",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Grab the black laptop with compact design and open it.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Open the black laptop with shiny hinges with care",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Open the medium-sized black laptop with care",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with compact design with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Open the black laptop with shiny hinges with care",
+    "Lift the black laptop with compact design using the left arm",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the black laptop with compact design using the left arm.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Open the black laptop with compact design with care",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the black laptop with compact design's lid gently.",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Open the black laptop with compact design with care",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the black laptop with compact design with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Open the medium-sized black laptop with care",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the medium-sized black laptop with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Open the black laptop with shiny hinges with care",
+    "Lift the medium-sized black laptop using the left arm",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Open the medium-sized black laptop with care",
+    "Lift the black laptop with compact design using the left arm",
+    "Lift the black laptop with compact design's lid gently.",
+    "Grab the medium-sized black laptop and open it.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Open the medium-sized black laptop with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Open the black laptop with shiny hinges with care"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode39.json b/open_laptop/demo_clean/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f22f0c7a3c445a7e71e4ccd815220072a3816b2
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black laptop with visible hinge's lid upwards.",
+    "Lift the black laptop with Saturn image on screen to open.",
+    "Open the black laptop completely.",
+    "Gently raise the laptop with flat black keyboard using the right arm.",
+    "Use the right arm to raise the smooth laptop with Windows logo underneath.",
+    "Use the right arm to lift the laptop with flat black keyboard",
+    "Lift the black laptop with metallic edges slightly.",
+    "Gently lift the laptop with glossy screen using the right arm",
+    "Raise the laptop with flat black keyboard to expose the screen",
+    "Pull open the black laptop",
+    "Grip and lift the laptop featuring black base and hinged screen's lid.",
+    "Open the black laptop with metallic edges carefully with the right arm.",
+    "Lift the black laptop with shiny display panel lid completely.",
+    "With the right arm, open the black laptop with shiny display panel's lid.",
+    "Raise the top of the portable black laptop with textured casing",
+    "Use the right arm to open the laptop with flat black keyboard.",
+    "Fully open the the laptop with flat black keyboard.",
+    "Use the right arm to open the laptop featuring black base and hinged screen.",
+    "Pull the screen of the laptop with glossy screen.",
+    "Lift the laptop with glossy screen open with the right arm.",
+    "Raise the medium-sized black portable laptop using the right arm firmly.",
+    "Use the right arm to raise the black laptop with visible hinge.",
+    "Raise the laptop for typing and computing using the right arm.",
+    "Carefully open the laptop with glossy screen using the right arm",
+    "Raise the medium-sized black portable laptop lid with the right arm.",
+    "Open the black laptop lifting with the right arm",
+    "Push the black laptop's lid upward using the right arm.",
+    "Pull up the lid of the laptop with glossy screen",
+    "Gently open the laptop with flat black keyboard.",
+    "Slide the black laptop open with the right arm.",
+    "Raise the black laptop with metallic edges lid using the right arm.",
+    "Use the right arm to raise the laptop with flat black keyboard.",
+    "Fully lift the black laptop with visible hinge using the right arm.",
+    "Pull the black laptop with visible hinge open with the right arm.",
+    "Use the right arm to open the medium-sized black portable laptop",
+    "Pull the lid of the black laptop with visible hinge upward.",
+    "Raise the black laptop with metallic edges's top section.",
+    "Pull the medium-sized black portable laptop's lid upward.",
+    "Open the portable black laptop with textured casing entirely.",
+    "Raise the laptop featuring black base and hinged screen using the right arm.",
+    "Lift the black laptop with visible hinge's lid using the right arm.",
+    "Use the right arm to open the black laptop with shiny display panel.",
+    "Raise and open the black laptop with shiny display panel.",
+    "Hold the medium-sized black portable laptop steady, lift lid.",
+    "Lift and open the medium-sized black portable laptop.",
+    "Pull the black laptop with Saturn image on screen upward lightly.",
+    "Lift the black laptop to open it up",
+    "Open the laptop featuring black base and hinged screen by lifting its lid.",
+    "Raise the lid of the laptop for typing and computing.",
+    "Gently open the laptop with flat black keyboard upward.",
+    "Lift the smooth laptop with Windows logo underneath's lid upwards.",
+    "Lift the black laptop with visible hinge to open.",
+    "Open the black laptop with Saturn image on screen completely.",
+    "Gently raise the black laptop using the right arm.",
+    "Use the right arm to raise the black laptop.",
+    "Use the right arm to lift the laptop with glossy screen",
+    "Lift the portable black laptop with textured casing slightly.",
+    "Gently lift the medium-sized black portable laptop using the right arm",
+    "Raise the black laptop to expose the screen",
+    "Pull open the medium-sized black portable laptop",
+    "Grip and lift the black laptop with shiny display panel's lid.",
+    "Open the smooth laptop with Windows logo underneath carefully with the right arm.",
+    "Lift the black laptop with Saturn image on screen lid completely.",
+    "With the right arm, open the black laptop with visible hinge's lid.",
+    "Raise the top of the laptop with glossy screen",
+    "Use the right arm to open the black laptop with shiny display panel.",
+    "Fully open the the black laptop.",
+    "Use the right arm to open the portable black laptop with textured casing.",
+    "Pull the screen of the laptop featuring black base and hinged screen.",
+    "Lift the black laptop with visible hinge open with the right arm.",
+    "Raise the black laptop with Saturn image on screen using the right arm firmly.",
+    "Use the right arm to raise the black laptop.",
+    "Raise the laptop featuring black base and hinged screen using the right arm.",
+    "Carefully open the black laptop with shiny display panel using the right arm",
+    "Raise the laptop with flat black keyboard lid with the right arm.",
+    "Open the black laptop with Saturn image on screen lifting with the right arm",
+    "Push the black laptop with shiny display panel's lid upward using the right arm.",
+    "Pull up the lid of the black laptop with shiny display panel",
+    "Gently open the medium-sized black portable laptop.",
+    "Slide the black laptop open with the right arm.",
+    "Raise the black laptop with visible hinge lid using the right arm.",
+    "Use the right arm to raise the smooth laptop with Windows logo underneath.",
+    "Fully lift the black laptop with Saturn image on screen using the right arm.",
+    "Pull the black laptop with shiny display panel open with the right arm.",
+    "Use the right arm to open the laptop with flat black keyboard",
+    "Pull the lid of the black laptop upward.",
+    "Raise the medium-sized black portable laptop's top section.",
+    "Pull the laptop featuring black base and hinged screen's lid upward.",
+    "Open the black laptop with Saturn image on screen entirely.",
+    "Raise the black laptop with visible hinge using the right arm.",
+    "Lift the laptop with glossy screen's lid using the right arm.",
+    "Use the right arm to open the black laptop with visible hinge.",
+    "Raise and open the black laptop.",
+    "Hold the black laptop steady, lift lid.",
+    "Lift and open the laptop with flat black keyboard.",
+    "Pull the black laptop with Saturn image on screen upward lightly.",
+    "Lift the smooth laptop with Windows logo underneath to open it up",
+    "Open the laptop with flat black keyboard by lifting its lid.",
+    "Raise the lid of the laptop with glossy screen.",
+    "Gently open the laptop for typing and computing upward."
+  ],
+  "unseen": [
+    "Lift the thin rectangular laptop's lid gently.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Grab the laptop with colorful screen and open it.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the thin rectangular laptop with care",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Grab the laptop with colorful screen and open it.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Open the laptop with colorful screen with care",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Grab the thin rectangular laptop and open it.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the laptop with colorful screen with care",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Grab the thin rectangular laptop and open it.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Open the laptop with colorful screen with care",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Grab the thin rectangular laptop and open it.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the thin rectangular laptop with care",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Grab the laptop with colorful screen and open it.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the thin rectangular laptop with care",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Grab the laptop with colorful screen and open it.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Grab the laptop with colorful screen and open it.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Open the thin rectangular laptop with care",
+    "Open the thin rectangular laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode4.json b/open_laptop/demo_clean/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c30458adbececfe93dac3a666daf75953661690
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the lid of the orange laptop upward.",
+    "Raise the laptop with folding lid using the right arm.",
+    "Carefully open the blue screen foldable laptop using the right arm",
+    "Open the laptop with blue screen carefully with the right arm.",
+    "Raise the rectangular laptop with orange body lid using the right arm.",
+    "Use the right arm to raise the thin portable laptop.",
+    "Pull the thin portable laptop open with the right arm.",
+    "Raise the rectangular laptop with orange body using the right arm firmly.",
+    "Pull open the blue screen portable laptop",
+    "Fully open the the plastic orange laptop with metal parts.",
+    "Open the blue screen portable laptop entirely.",
+    "Pull the screen of the laptop with blue screen.",
+    "Raise and open the rectangular laptop with orange body.",
+    "Gently open the blue screen foldable laptop.",
+    "Raise the top of the medium rectangular orange laptop",
+    "Raise the laptop with blue screen using the right arm.",
+    "Use the right arm to open the blue screen portable laptop",
+    "Lift the rectangular laptop with orange body to open it up",
+    "Use the right arm to open the orange laptop.",
+    "Pull the plastic orange laptop with metal parts's lid upward.",
+    "Pull the hinged screen laptop upward lightly.",
+    "Lift the foldable laptop's lid using the right arm.",
+    "Gently raise the laptop with blue screen using the right arm.",
+    "Lift the foldable laptop to open.",
+    "With the right arm, open the laptop with blue screen's lid.",
+    "Lift the hinged screen laptop slightly.",
+    "Fully lift the rectangular laptop with orange body using the right arm.",
+    "Raise the lid of the hinged screen laptop.",
+    "Use the right arm to raise the laptop with black hinge area.",
+    "Open the rectangular laptop with orange body by lifting its lid.",
+    "Grip and lift the blue screen portable laptop's lid.",
+    "Raise the plastic orange laptop with metal parts's top section.",
+    "Slide the medium rectangular orange laptop open with the right arm.",
+    "Use the right arm to open the hinged screen laptop.",
+    "Gently lift the blue screen foldable laptop using the right arm",
+    "Use the right arm to raise the thin portable laptop.",
+    "Lift the blue screen portable laptop's lid upwards.",
+    "Hold the orange laptop steady, lift lid.",
+    "Lift and open the thin portable laptop.",
+    "Lift the thin portable laptop lid completely.",
+    "Pull up the lid of the rectangular laptop with orange body",
+    "Raise the medium rectangular orange laptop to expose the screen",
+    "Open the laptop with folding lid lifting with the right arm",
+    "Push the blue screen foldable laptop's lid upward using the right arm.",
+    "Use the right arm to open the foldable laptop.",
+    "Lift the thin portable laptop open with the right arm.",
+    "Open the laptop with blue screen completely.",
+    "Raise the laptop with folding lid lid with the right arm.",
+    "Use the right arm to lift the foldable laptop",
+    "Gently open the orange laptop upward.",
+    "Pull the lid of the foldable laptop upward.",
+    "Raise the laptop with black hinge area using the right arm.",
+    "Carefully open the rectangular laptop with orange body using the right arm",
+    "Open the laptop with folding lid carefully with the right arm.",
+    "Raise the thin portable laptop lid using the right arm.",
+    "Use the right arm to raise the foldable laptop.",
+    "Pull the hinged screen laptop open with the right arm.",
+    "Raise the medium rectangular orange laptop using the right arm firmly.",
+    "Pull open the laptop with black hinge area",
+    "Fully open the the plastic orange laptop with metal parts.",
+    "Open the plastic orange laptop with metal parts entirely.",
+    "Pull the screen of the laptop with black hinge area.",
+    "Raise and open the laptop with blue screen.",
+    "Gently open the laptop with black hinge area.",
+    "Raise the top of the blue screen foldable laptop",
+    "Raise the laptop with blue screen using the right arm.",
+    "Use the right arm to open the plastic orange laptop with metal parts",
+    "Lift the blue screen foldable laptop to open it up",
+    "Use the right arm to open the rectangular laptop with orange body.",
+    "Pull the plastic orange laptop with metal parts's lid upward.",
+    "Pull the blue screen portable laptop upward lightly.",
+    "Lift the foldable laptop's lid using the right arm.",
+    "Gently raise the plastic orange laptop with metal parts using the right arm.",
+    "Lift the blue screen foldable laptop to open.",
+    "With the right arm, open the orange laptop's lid.",
+    "Lift the thin portable laptop slightly.",
+    "Fully lift the blue screen foldable laptop using the right arm.",
+    "Raise the lid of the laptop with black hinge area.",
+    "Use the right arm to raise the medium rectangular orange laptop.",
+    "Open the blue screen foldable laptop by lifting its lid.",
+    "Grip and lift the blue screen portable laptop's lid.",
+    "Raise the laptop with folding lid's top section.",
+    "Slide the laptop with folding lid open with the right arm.",
+    "Use the right arm to open the hinged screen laptop.",
+    "Gently lift the thin portable laptop using the right arm",
+    "Use the right arm to raise the rectangular laptop with orange body.",
+    "Lift the blue screen portable laptop's lid upwards.",
+    "Hold the blue screen foldable laptop steady, lift lid.",
+    "Lift and open the laptop with folding lid.",
+    "Lift the hinged screen laptop lid completely.",
+    "Pull up the lid of the rectangular laptop with orange body",
+    "Raise the rectangular laptop with orange body to expose the screen",
+    "Open the foldable laptop lifting with the right arm",
+    "Push the blue screen portable laptop's lid upward using the right arm.",
+    "Use the right arm to open the foldable laptop.",
+    "Lift the thin portable laptop open with the right arm.",
+    "Open the laptop with black hinge area completely.",
+    "Raise the plastic orange laptop with metal parts lid with the right arm.",
+    "Use the right arm to lift the hinged screen laptop",
+    "Gently open the blue screen foldable laptop upward."
+  ],
+  "unseen": [
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the flat orange laptop using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the flat orange laptop using the right arm",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the flat orange laptop using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the flat orange laptop using the right arm",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the flat orange laptop using the right arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the flat orange laptop using the right arm",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the flat orange laptop using the right arm",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the flat orange laptop with care",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the flat orange laptop using the right arm",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the flat orange laptop with care",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode40.json b/open_laptop/demo_clean/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..026501a57755017dfa2a8be2649068206585bba5
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the laptop with folding lid using the right arm firmly.",
+    "Raise the plastic orange laptop with metal parts lid with the right arm.",
+    "Gently open the laptop with folding lid upward.",
+    "Fully open the the rectangular laptop with orange body.",
+    "Gently open the laptop with blue screen.",
+    "Slide the orange laptop open with the right arm.",
+    "Use the right arm to open the hinged screen laptop.",
+    "Use the right arm to lift the orange laptop",
+    "Carefully open the laptop with blue screen using the right arm",
+    "Raise the top of the blue screen portable laptop",
+    "Pull the lid of the plastic orange laptop with metal parts upward.",
+    "Open the rectangular laptop with orange body completely.",
+    "Raise the lid of the blue screen portable laptop.",
+    "Lift and open the thin portable laptop.",
+    "Pull up the lid of the foldable laptop",
+    "Raise the medium rectangular orange laptop using the right arm.",
+    "Pull the laptop with folding lid open with the right arm.",
+    "Use the right arm to raise the foldable laptop.",
+    "Use the right arm to open the laptop with black hinge area",
+    "Raise the rectangular laptop with orange body's top section.",
+    "Pull the thin portable laptop's lid upward.",
+    "Lift the hinged screen laptop slightly.",
+    "Lift the laptop with folding lid lid completely.",
+    "Use the right arm to open the laptop with blue screen.",
+    "Hold the thin portable laptop steady, lift lid.",
+    "Grip and lift the orange laptop's lid.",
+    "Pull the screen of the orange laptop.",
+    "Open the thin portable laptop entirely.",
+    "With the right arm, open the blue screen foldable laptop's lid.",
+    "Raise the blue screen portable laptop using the right arm.",
+    "Raise the foldable laptop to expose the screen",
+    "Lift the laptop with blue screen to open.",
+    "Gently raise the foldable laptop using the right arm.",
+    "Lift the blue screen portable laptop's lid upwards.",
+    "Use the right arm to raise the blue screen foldable laptop.",
+    "Pull open the thin portable laptop",
+    "Push the laptop with black hinge area's lid upward using the right arm.",
+    "Raise and open the plastic orange laptop with metal parts.",
+    "Lift the plastic orange laptop with metal parts to open it up",
+    "Use the right arm to open the hinged screen laptop.",
+    "Use the right arm to raise the thin portable laptop.",
+    "Pull the plastic orange laptop with metal parts upward lightly.",
+    "Raise the plastic orange laptop with metal parts lid using the right arm.",
+    "Fully lift the medium rectangular orange laptop using the right arm.",
+    "Open the laptop with blue screen lifting with the right arm",
+    "Gently lift the foldable laptop using the right arm",
+    "Open the rectangular laptop with orange body by lifting its lid.",
+    "Lift the hinged screen laptop open with the right arm.",
+    "Open the blue screen foldable laptop carefully with the right arm.",
+    "Lift the blue screen portable laptop's lid using the right arm.",
+    "Raise the blue screen foldable laptop using the right arm firmly.",
+    "Raise the blue screen portable laptop lid with the right arm.",
+    "Gently open the blue screen foldable laptop upward.",
+    "Fully open the the laptop with folding lid.",
+    "Gently open the blue screen portable laptop.",
+    "Slide the medium rectangular orange laptop open with the right arm.",
+    "Use the right arm to open the medium rectangular orange laptop.",
+    "Use the right arm to lift the rectangular laptop with orange body",
+    "Carefully open the blue screen foldable laptop using the right arm",
+    "Raise the top of the medium rectangular orange laptop",
+    "Pull the lid of the thin portable laptop upward.",
+    "Open the foldable laptop completely.",
+    "Raise the lid of the orange laptop.",
+    "Lift and open the blue screen foldable laptop.",
+    "Pull up the lid of the orange laptop",
+    "Raise the orange laptop using the right arm.",
+    "Pull the foldable laptop open with the right arm.",
+    "Use the right arm to raise the rectangular laptop with orange body.",
+    "Use the right arm to open the laptop with folding lid",
+    "Raise the rectangular laptop with orange body's top section.",
+    "Pull the laptop with folding lid's lid upward.",
+    "Lift the rectangular laptop with orange body slightly.",
+    "Lift the laptop with black hinge area lid completely.",
+    "Use the right arm to open the laptop with blue screen.",
+    "Hold the laptop with folding lid steady, lift lid.",
+    "Grip and lift the plastic orange laptop with metal parts's lid.",
+    "Pull the screen of the foldable laptop.",
+    "Open the laptop with blue screen entirely.",
+    "With the right arm, open the medium rectangular orange laptop's lid.",
+    "Raise the foldable laptop using the right arm.",
+    "Raise the laptop with blue screen to expose the screen",
+    "Lift the laptop with black hinge area to open.",
+    "Gently raise the medium rectangular orange laptop using the right arm.",
+    "Lift the thin portable laptop's lid upwards.",
+    "Use the right arm to raise the blue screen foldable laptop.",
+    "Pull open the orange laptop",
+    "Push the blue screen portable laptop's lid upward using the right arm.",
+    "Raise and open the medium rectangular orange laptop.",
+    "Lift the medium rectangular orange laptop to open it up",
+    "Use the right arm to open the blue screen foldable laptop.",
+    "Use the right arm to raise the foldable laptop.",
+    "Pull the laptop with folding lid upward lightly.",
+    "Raise the laptop with blue screen lid using the right arm.",
+    "Fully lift the foldable laptop using the right arm.",
+    "Open the laptop with folding lid lifting with the right arm",
+    "Gently lift the thin portable laptop using the right arm",
+    "Open the blue screen portable laptop by lifting its lid.",
+    "Lift the laptop with black hinge area open with the right arm.",
+    "Open the rectangular laptop with orange body carefully with the right arm.",
+    "Lift the medium rectangular orange laptop's lid using the right arm."
+  ],
+  "unseen": [
+    "Open the laptop with smooth surfaces with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop with one motion.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the flat orange laptop using the right arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the laptop with smooth surfaces with care",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the laptop with smooth surfaces with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop using the right arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the laptop with smooth surfaces with care",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the flat orange laptop with care",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the laptop with smooth surfaces with care",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the laptop with smooth surfaces using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode41.json b/open_laptop/demo_clean/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..02fbf3cfe20c3c216a4410c08ef13a334f490371
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to open the black and silver portable laptop.",
+    "With the right arm, open the laptop with silver keyboard's lid.",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Pull open the rectangular laptop with smooth texture",
+    "Fully open the the laptop with rectangular display screen.",
+    "Gently raise the laptop with silver buttons on keyboard using the right arm.",
+    "Lift and open the laptop with rectangular display screen.",
+    "Hold the black and silver portable laptop steady, lift lid.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Pull the laptop with silver buttons on keyboard upward lightly.",
+    "Open the laptop with silver keyboard completely.",
+    "Lift the black and silver portable laptop's lid upwards.",
+    "Use the right arm to open the clamshell laptop with flat screen",
+    "Raise the clamshell laptop with flat screen lid with the right arm.",
+    "Lift the laptop with rectangular display screen open with the right arm.",
+    "Raise and open the black laptop.",
+    "Open the clamshell laptop with flat screen entirely.",
+    "Use the right arm to open the black laptop.",
+    "Pull up the lid of the rectangular laptop with smooth texture",
+    "Lift the rectangular laptop with folding hinge to open.",
+    "Open the black laptop carefully with the right arm.",
+    "Pull the laptop featuring built-in keyboard's lid upward.",
+    "Use the right arm to lift the laptop with wide black lid",
+    "Gently lift the laptop with rectangular display screen using the right arm",
+    "Raise the black laptop using the right arm.",
+    "Lift the laptop with shiny black surface's lid using the right arm.",
+    "Grip and lift the black laptop's lid.",
+    "Gently open the black laptop with smooth body upward.",
+    "Raise the black and silver portable laptop using the right arm firmly.",
+    "Open the black and silver portable laptop lifting with the right arm",
+    "Push the laptop with silver buttons on keyboard's lid upward using the right arm.",
+    "Use the right arm to raise the black laptop.",
+    "Raise the lid of the black laptop with smooth body.",
+    "Gently open the laptop with silver buttons on keyboard.",
+    "Raise the laptop with rectangular display screen's top section.",
+    "Open the laptop with rectangular display screen by lifting its lid.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Lift the rectangular laptop with folding hinge to open it up",
+    "Pull the screen of the black laptop with smooth body.",
+    "Pull the laptop with silver buttons on keyboard open with the right arm.",
+    "Raise the laptop featuring built-in keyboard to expose the screen",
+    "Raise the top of the laptop with wide black lid",
+    "Raise the laptop featuring built-in keyboard lid using the right arm.",
+    "Carefully open the rectangular laptop with smooth texture using the right arm",
+    "Use the right arm to raise the laptop featuring built-in keyboard.",
+    "Pull the lid of the laptop with wide black lid upward.",
+    "Slide the laptop with wide black lid open with the right arm.",
+    "Lift the black laptop with smooth body lid completely.",
+    "Lift the laptop with rectangular display screen slightly.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Use the right arm to open the clamshell laptop with flat screen.",
+    "With the right arm, open the laptop with rectangular display screen's lid.",
+    "Fully lift the laptop with silver buttons on keyboard using the right arm.",
+    "Pull open the black laptop with smooth body",
+    "Fully open the the laptop featuring built-in keyboard.",
+    "Gently raise the clamshell laptop with flat screen using the right arm.",
+    "Lift and open the laptop with wide black lid.",
+    "Hold the laptop with wide black lid steady, lift lid.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Pull the rectangular laptop with smooth texture upward lightly.",
+    "Open the laptop with silver keyboard completely.",
+    "Lift the rectangular laptop with folding hinge's lid upwards.",
+    "Use the right arm to open the laptop featuring built-in keyboard",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Lift the rectangular laptop with folding hinge open with the right arm.",
+    "Raise and open the laptop with rectangular display screen.",
+    "Open the laptop with wide black lid entirely.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Pull up the lid of the laptop featuring built-in keyboard",
+    "Lift the laptop with shiny black surface to open.",
+    "Open the black laptop carefully with the right arm.",
+    "Pull the laptop featuring built-in keyboard's lid upward.",
+    "Use the right arm to lift the rectangular laptop with folding hinge",
+    "Gently lift the laptop with rectangular display screen using the right arm",
+    "Raise the laptop with wide black lid using the right arm.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Grip and lift the laptop with shiny black surface's lid.",
+    "Gently open the laptop featuring built-in keyboard upward.",
+    "Raise the rectangular laptop with folding hinge using the right arm firmly.",
+    "Open the black laptop lifting with the right arm",
+    "Push the laptop with shiny black surface's lid upward using the right arm.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Raise the lid of the rectangular laptop with folding hinge.",
+    "Gently open the laptop with wide black lid.",
+    "Raise the laptop featuring built-in keyboard's top section.",
+    "Open the laptop with rectangular display screen by lifting its lid.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Lift the laptop with shiny black surface to open it up",
+    "Pull the screen of the laptop with rectangular display screen.",
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Raise the top of the laptop with silver keyboard",
+    "Raise the laptop with wide black lid lid using the right arm.",
+    "Carefully open the laptop with shiny black surface using the right arm",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Pull the lid of the laptop featuring built-in keyboard upward.",
+    "Slide the laptop with wide black lid open with the right arm.",
+    "Lift the laptop with silver buttons on keyboard lid completely.",
+    "Lift the laptop with shiny black surface slightly.",
+    "Raise the laptop with silver keyboard using the right arm."
+  ],
+  "unseen": [
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with black cover and bottom's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode42.json b/open_laptop/demo_clean/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d904b2566925ab8a046b6f7edd14404237e3f48
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to open the laptop with wide black lid.",
+    "Gently lift the laptop with rectangular display screen using the left arm",
+    "Lift the black laptop with smooth body to open it up",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Raise the black laptop lid using the left arm.",
+    "Push the laptop with silver keyboard's lid upward using the left arm.",
+    "Pull open the laptop with silver buttons on keyboard",
+    "Carefully open the laptop with silver buttons on keyboard using the left arm",
+    "Open the laptop with silver buttons on keyboard carefully with the left arm.",
+    "Raise and open the rectangular laptop with smooth texture.",
+    "Pull the laptop with silver keyboard open with the left arm.",
+    "Open the laptop with silver buttons on keyboard lifting with the left arm",
+    "Pull the clamshell laptop with flat screen upward lightly.",
+    "Use the left arm to open the black laptop.",
+    "Raise the rectangular laptop with smooth texture's top section.",
+    "Raise the laptop with rectangular display screen using the left arm.",
+    "Gently open the laptop with rectangular display screen upward.",
+    "Fully open the the black laptop.",
+    "Open the laptop with shiny black surface entirely.",
+    "Raise the laptop with shiny black surface to expose the screen",
+    "Lift the black laptop with smooth body slightly.",
+    "Pull the lid of the black laptop upward.",
+    "Raise the black and silver portable laptop using the left arm.",
+    "Pull up the lid of the black laptop with smooth body",
+    "Lift and open the black laptop.",
+    "Raise the black and silver portable laptop lid with the left arm.",
+    "Use the left arm to lift the laptop with shiny black surface",
+    "With the left arm, open the laptop with silver buttons on keyboard's lid.",
+    "Use the left arm to raise the laptop with silver buttons on keyboard.",
+    "Pull the screen of the rectangular laptop with smooth texture.",
+    "Use the left arm to open the laptop with wide black lid",
+    "Slide the laptop with silver buttons on keyboard open with the left arm.",
+    "Raise the top of the black laptop",
+    "Use the left arm to raise the clamshell laptop with flat screen.",
+    "Hold the laptop featuring built-in keyboard steady, lift lid.",
+    "Lift the black laptop with smooth body open with the left arm.",
+    "Gently raise the laptop with silver buttons on keyboard using the left arm.",
+    "Pull the laptop with wide black lid's lid upward.",
+    "Lift the laptop featuring built-in keyboard lid completely.",
+    "Lift the rectangular laptop with smooth texture to open.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Use the left arm to open the rectangular laptop with folding hinge.",
+    "Raise the lid of the rectangular laptop with smooth texture.",
+    "Lift the rectangular laptop with smooth texture's lid using the left arm.",
+    "Use the left arm to raise the laptop with rectangular display screen.",
+    "Fully lift the laptop featuring built-in keyboard using the left arm.",
+    "Open the black and silver portable laptop completely.",
+    "Raise the rectangular laptop with folding hinge using the left arm firmly.",
+    "Gently open the laptop featuring built-in keyboard.",
+    "Open the rectangular laptop with smooth texture by lifting its lid.",
+    "Use the left arm to open the black and silver portable laptop.",
+    "Gently lift the laptop with rectangular display screen using the left arm",
+    "Lift the rectangular laptop with smooth texture to open it up",
+    "Grip and lift the clamshell laptop with flat screen's lid.",
+    "Raise the laptop featuring built-in keyboard lid using the left arm.",
+    "Push the black laptop's lid upward using the left arm.",
+    "Pull open the laptop with shiny black surface",
+    "Carefully open the laptop with silver keyboard using the left arm",
+    "Open the laptop with rectangular display screen carefully with the left arm.",
+    "Raise and open the black laptop with smooth body.",
+    "Pull the rectangular laptop with smooth texture open with the left arm.",
+    "Open the rectangular laptop with folding hinge lifting with the left arm",
+    "Pull the black laptop upward lightly.",
+    "Use the left arm to open the rectangular laptop with smooth texture.",
+    "Raise the black laptop with smooth body's top section.",
+    "Raise the black laptop using the left arm.",
+    "Gently open the rectangular laptop with smooth texture upward.",
+    "Fully open the the laptop with shiny black surface.",
+    "Open the rectangular laptop with smooth texture entirely.",
+    "Raise the rectangular laptop with folding hinge to expose the screen",
+    "Lift the black and silver portable laptop slightly.",
+    "Pull the lid of the black laptop with smooth body upward.",
+    "Raise the laptop with rectangular display screen using the left arm.",
+    "Pull up the lid of the laptop with shiny black surface",
+    "Lift and open the laptop with rectangular display screen.",
+    "Raise the laptop with shiny black surface lid with the left arm.",
+    "Use the left arm to lift the black laptop",
+    "With the left arm, open the black laptop's lid.",
+    "Use the left arm to raise the laptop with wide black lid.",
+    "Pull the screen of the black and silver portable laptop.",
+    "Use the left arm to open the rectangular laptop with smooth texture",
+    "Slide the black and silver portable laptop open with the left arm.",
+    "Raise the top of the clamshell laptop with flat screen",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Hold the laptop with wide black lid steady, lift lid.",
+    "Lift the laptop with silver buttons on keyboard open with the left arm.",
+    "Gently raise the rectangular laptop with smooth texture using the left arm.",
+    "Pull the laptop featuring built-in keyboard's lid upward.",
+    "Lift the laptop with shiny black surface lid completely.",
+    "Lift the clamshell laptop with flat screen to open.",
+    "Lift the laptop with silver buttons on keyboard's lid upwards.",
+    "Use the left arm to open the laptop with silver buttons on keyboard.",
+    "Raise the lid of the rectangular laptop with smooth texture.",
+    "Lift the black laptop's lid using the left arm.",
+    "Use the left arm to raise the laptop with wide black lid.",
+    "Fully lift the black laptop using the left arm.",
+    "Open the clamshell laptop with flat screen completely.",
+    "Raise the laptop with shiny black surface using the left arm firmly.",
+    "Gently open the black laptop with smooth body.",
+    "Open the black and silver portable laptop by lifting its lid."
+  ],
+  "unseen": [
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case using the left arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the medium laptop with black case using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case using the left arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode43.json b/open_laptop/demo_clean/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..d691c26142f654b35ddbba85cec75b74c5d4efa3
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the clamshell laptop with flat screen slightly.",
+    "Slide the rectangular laptop with folding hinge open with the right arm.",
+    "Carefully open the rectangular laptop with folding hinge using the right arm",
+    "Open the laptop with rectangular display screen entirely.",
+    "Push the rectangular laptop with smooth texture's lid upward using the right arm.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Hold the clamshell laptop with flat screen steady, lift lid.",
+    "Fully lift the rectangular laptop with folding hinge using the right arm.",
+    "Gently raise the rectangular laptop with folding hinge using the right arm.",
+    "Raise the rectangular laptop with smooth texture using the right arm firmly.",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Raise the laptop with rectangular display screen using the right arm.",
+    "Gently lift the laptop with rectangular display screen using the right arm",
+    "Use the right arm to open the laptop with wide black lid",
+    "Fully open the the black and silver portable laptop.",
+    "Raise the laptop with silver buttons on keyboard lid with the right arm.",
+    "Raise the black and silver portable laptop to expose the screen",
+    "Gently open the laptop with silver keyboard upward.",
+    "Grip and lift the black laptop with smooth body's lid.",
+    "Raise the lid of the laptop with silver buttons on keyboard.",
+    "Pull the laptop with rectangular display screen open with the right arm.",
+    "Use the right arm to open the black laptop.",
+    "Pull the rectangular laptop with folding hinge upward lightly.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Raise the laptop with silver buttons on keyboard's top section.",
+    "Open the laptop with rectangular display screen lifting with the right arm",
+    "Lift the black and silver portable laptop open with the right arm.",
+    "Raise and open the laptop with silver keyboard.",
+    "Open the rectangular laptop with folding hinge carefully with the right arm.",
+    "Pull the screen of the black laptop.",
+    "Pull up the lid of the rectangular laptop with folding hinge",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Use the right arm to lift the laptop with rectangular display screen",
+    "Use the right arm to open the black laptop with smooth body.",
+    "Lift the rectangular laptop with folding hinge's lid upwards.",
+    "Lift the laptop featuring built-in keyboard to open.",
+    "Pull the laptop with wide black lid's lid upward.",
+    "Open the black laptop completely.",
+    "Raise the rectangular laptop with folding hinge lid using the right arm.",
+    "Gently open the black laptop.",
+    "Pull open the black laptop",
+    "Raise the top of the black and silver portable laptop",
+    "Open the laptop with wide black lid by lifting its lid.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Pull the lid of the laptop with shiny black surface upward.",
+    "With the right arm, open the clamshell laptop with flat screen's lid.",
+    "Lift the laptop with shiny black surface's lid using the right arm.",
+    "Lift the black and silver portable laptop lid completely.",
+    "Lift the clamshell laptop with flat screen slightly.",
+    "Slide the clamshell laptop with flat screen open with the right arm.",
+    "Carefully open the laptop with wide black lid using the right arm",
+    "Open the laptop with silver buttons on keyboard entirely.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Hold the black and silver portable laptop steady, lift lid.",
+    "Fully lift the laptop with rectangular display screen using the right arm.",
+    "Gently raise the clamshell laptop with flat screen using the right arm.",
+    "Raise the rectangular laptop with folding hinge using the right arm firmly.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Raise the laptop with silver buttons on keyboard using the right arm.",
+    "Gently lift the black laptop using the right arm",
+    "Use the right arm to open the laptop with shiny black surface",
+    "Fully open the the laptop featuring built-in keyboard.",
+    "Raise the rectangular laptop with folding hinge lid with the right arm.",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Gently open the laptop with shiny black surface upward.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Raise the lid of the laptop with rectangular display screen.",
+    "Pull the rectangular laptop with smooth texture open with the right arm.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Pull the rectangular laptop with smooth texture upward lightly.",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Raise the laptop with shiny black surface's top section.",
+    "Open the clamshell laptop with flat screen lifting with the right arm",
+    "Lift the black and silver portable laptop open with the right arm.",
+    "Raise and open the black and silver portable laptop.",
+    "Open the laptop with silver buttons on keyboard carefully with the right arm.",
+    "Pull the screen of the black laptop.",
+    "Pull up the lid of the rectangular laptop with smooth texture",
+    "Use the right arm to raise the black laptop.",
+    "Use the right arm to lift the clamshell laptop with flat screen",
+    "Use the right arm to open the black laptop with smooth body.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Lift the black and silver portable laptop to open.",
+    "Pull the laptop with silver buttons on keyboard's lid upward.",
+    "Open the clamshell laptop with flat screen completely.",
+    "Raise the black laptop with smooth body lid using the right arm.",
+    "Gently open the rectangular laptop with smooth texture.",
+    "Pull open the clamshell laptop with flat screen",
+    "Raise the top of the laptop with wide black lid",
+    "Open the laptop with wide black lid by lifting its lid.",
+    "Lift and open the laptop featuring built-in keyboard.",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Pull the lid of the black and silver portable laptop upward.",
+    "With the right arm, open the laptop with wide black lid's lid.",
+    "Lift the laptop with rectangular display screen's lid using the right arm.",
+    "Lift the laptop with shiny black surface lid completely."
+  ],
+  "unseen": [
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the medium laptop with black case's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the medium laptop with black case carefully using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode44.json b/open_laptop/demo_clean/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..6391375569825682c5cec3e80bbdddeda2dbcbe6
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to open the black and silver laptop.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Fully open the the compact black and silver computer.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Raise the Toshiba laptop with folding design lid using the right arm.",
+    "Pull open the matte laptop with smooth screen",
+    "Raise and open the matte laptop with smooth screen.",
+    "Pull up the lid of the compact black and silver computer",
+    "Raise the compact black and silver computer using the right arm.",
+    "Slide the laptop with silver keyboard open with the right arm.",
+    "Carefully open the folding laptop with screen and keyboard using the right arm",
+    "Raise the portable folding laptop to expose the screen",
+    "Open the folding laptop with screen and keyboard lifting with the right arm",
+    "Lift the silver keyboard laptop open with the right arm.",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Raise the folding laptop with screen and keyboard's top section.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm firmly.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Raise the lid of the black and silver laptop.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Raise the top of the black laptop with reflective screen",
+    "Raise the folding laptop with screen and keyboard lid with the right arm.",
+    "Pull the compact black and silver computer upward lightly.",
+    "Gently lift the black and silver laptop using the right arm",
+    "Lift the compact black and silver computer to open it up",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Gently raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Pull the screen of the compact black and silver computer.",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Lift the portable folding laptop's lid using the right arm.",
+    "Lift and open the silver keyboard laptop.",
+    "Use the right arm to lift the silver keyboard laptop",
+    "Hold the folding laptop with screen and keyboard steady, lift lid.",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Pull the rectangular laptop with Toshiba logo open with the right arm.",
+    "Push the folding laptop with screen and keyboard's lid upward using the right arm.",
+    "Open the black laptop with reflective screen carefully with the right arm.",
+    "Gently open the black laptop with reflective screen upward.",
+    "Use the right arm to open the medium-sized laptop",
+    "Lift the matte laptop with smooth screen slightly.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Open the rectangular laptop with Toshiba logo by lifting its lid.",
+    "With the right arm, open the rectangular laptop with Toshiba logo's lid.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Open the matte laptop with smooth screen completely.",
+    "Fully lift the folding laptop with screen and keyboard using the right arm.",
+    "Fully open the the compact black and silver computer.",
+    "Pull the lid of the silver keyboard laptop upward.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Pull open the Toshiba laptop with folding design",
+    "Raise and open the medium-sized laptop.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Raise the black and silver laptop using the right arm.",
+    "Slide the matte laptop with smooth screen open with the right arm.",
+    "Carefully open the black and silver laptop using the right arm",
+    "Raise the compact black and silver computer to expose the screen",
+    "Open the folding laptop with screen and keyboard lifting with the right arm",
+    "Lift the silver keyboard laptop open with the right arm.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Raise the portable folding laptop's top section.",
+    "Lift the laptop with silver keyboard lid completely.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Raise the black and silver laptop using the right arm firmly.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Raise the lid of the black and silver laptop.",
+    "Pull the Toshiba laptop with folding design's lid upward.",
+    "Raise the top of the silver keyboard laptop",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "Pull the matte laptop with smooth screen upward lightly.",
+    "Gently lift the Toshiba laptop with folding design using the right arm",
+    "Lift the Toshiba laptop with folding design to open it up",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Gently raise the compact black and silver computer using the right arm.",
+    "Lift the portable folding laptop to open.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Gently open the laptop with silver keyboard.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Lift the black laptop with reflective screen's lid using the right arm.",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Use the right arm to lift the black and silver laptop",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Pull the silver keyboard laptop open with the right arm.",
+    "Push the Toshiba laptop with folding design's lid upward using the right arm.",
+    "Open the medium-sized laptop carefully with the right arm.",
+    "Gently open the device with flat keyboard and screen upward.",
+    "Use the right arm to open the medium-sized laptop",
+    "Lift the portable folding laptop slightly.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Open the portable folding laptop by lifting its lid.",
+    "With the right arm, open the black and silver laptop's lid."
+  ],
+  "unseen": [
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with care",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the right arm",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode45.json b/open_laptop/demo_clean/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..c436d703761ea3c77490f79cea007b95d4a1f073
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully open the the silver laptop with black keyboard.",
+    "Pull up the lid of the silver laptop",
+    "Lift the laptop with black textured screen to open.",
+    "Pull open the black and silver laptop",
+    "Raise the top of the wood surrounded laptop",
+    "Use the right arm to lift the black screen laptop",
+    "Raise and open the silver laptop with foldable parts.",
+    "Lift the black screen laptop's lid using the right arm.",
+    "Use the right arm to open the silver laptop with foldable parts.",
+    "Open the laptop with wood panel background by lifting its lid.",
+    "Lift the medium foldable silver laptop lid completely.",
+    "Open the medium foldable silver laptop lifting with the right arm",
+    "Raise the silver laptop with black keyboard using the right arm.",
+    "Use the right arm to open the keyboard laptop.",
+    "With the right arm, open the silver laptop's lid.",
+    "Lift the smooth textured laptop open with the right arm.",
+    "Push the black screen laptop's lid upward using the right arm.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Raise the silver laptop with foldable parts lid with the right arm.",
+    "Raise the silver laptop using the right arm firmly.",
+    "Lift the silver laptop's lid upwards.",
+    "Gently open the metal laptop upward.",
+    "Grip and lift the keyboard laptop's lid.",
+    "Use the right arm to open the metal laptop",
+    "Pull the silver laptop with black keyboard open with the right arm.",
+    "Raise the lid of the medium foldable silver laptop.",
+    "Lift and open the medium foldable silver laptop.",
+    "Gently lift the black and silver laptop using the right arm",
+    "Open the smooth textured laptop completely.",
+    "Pull the screen of the metal laptop.",
+    "Open the laptop with wood panel background carefully with the right arm.",
+    "Lift the black and silver laptop slightly.",
+    "Use the right arm to raise the silver laptop with black keyboard.",
+    "Slide the silver laptop with black keyboard open with the right arm.",
+    "Lift the medium foldable silver laptop to open it up",
+    "Raise the keyboard laptop using the right arm.",
+    "Hold the laptop with black textured screen steady, lift lid.",
+    "Use the right arm to open the laptop with black textured screen.",
+    "Raise the silver laptop's top section.",
+    "Pull the lid of the medium foldable silver laptop upward.",
+    "Gently open the black screen laptop.",
+    "Pull the wood surrounded laptop upward lightly.",
+    "Fully lift the laptop with wood panel background using the right arm.",
+    "Pull the keyboard laptop's lid upward.",
+    "Use the right arm to raise the silver laptop with black keyboard.",
+    "Carefully open the laptop with black textured screen using the right arm",
+    "Raise the laptop with wood panel background to expose the screen",
+    "Open the laptop with black textured screen entirely.",
+    "Gently raise the silver laptop using the right arm.",
+    "Raise the laptop with wood panel background lid using the right arm.",
+    "Fully open the the black and silver laptop.",
+    "Pull up the lid of the black and silver laptop",
+    "Lift the medium foldable silver laptop to open.",
+    "Pull open the silver laptop",
+    "Raise the top of the laptop with black textured screen",
+    "Use the right arm to lift the silver laptop with black keyboard",
+    "Raise and open the wood surrounded laptop.",
+    "Lift the silver laptop with foldable parts's lid using the right arm.",
+    "Use the right arm to open the silver laptop with black keyboard.",
+    "Open the silver laptop with black keyboard by lifting its lid.",
+    "Lift the silver laptop lid completely.",
+    "Open the metal laptop lifting with the right arm",
+    "Raise the keyboard laptop using the right arm.",
+    "Use the right arm to open the silver laptop with black keyboard.",
+    "With the right arm, open the black and silver laptop's lid.",
+    "Lift the silver laptop with black keyboard open with the right arm.",
+    "Push the laptop with black textured screen's lid upward using the right arm.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Raise the smooth textured laptop lid with the right arm.",
+    "Raise the wood surrounded laptop using the right arm firmly.",
+    "Lift the silver laptop with black keyboard's lid upwards.",
+    "Gently open the silver laptop upward.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Use the right arm to open the metal laptop",
+    "Pull the wood surrounded laptop open with the right arm.",
+    "Raise the lid of the medium foldable silver laptop.",
+    "Lift and open the smooth textured laptop.",
+    "Gently lift the laptop with black textured screen using the right arm",
+    "Open the keyboard laptop completely.",
+    "Pull the screen of the metal laptop.",
+    "Open the black screen laptop carefully with the right arm.",
+    "Lift the black screen laptop slightly.",
+    "Use the right arm to raise the silver laptop with black keyboard.",
+    "Slide the laptop with black textured screen open with the right arm.",
+    "Lift the wood surrounded laptop to open it up",
+    "Raise the silver laptop using the right arm.",
+    "Hold the wood surrounded laptop steady, lift lid.",
+    "Use the right arm to open the laptop with black textured screen.",
+    "Raise the silver laptop with black keyboard's top section.",
+    "Pull the lid of the keyboard laptop upward.",
+    "Gently open the laptop with wood panel background.",
+    "Pull the silver laptop with black keyboard upward lightly.",
+    "Fully lift the smooth textured laptop using the right arm.",
+    "Pull the keyboard laptop's lid upward.",
+    "Use the right arm to raise the metal laptop.",
+    "Carefully open the silver laptop with foldable parts using the right arm",
+    "Raise the keyboard laptop to expose the screen",
+    "Open the silver laptop with foldable parts entirely.",
+    "Gently raise the medium foldable silver laptop using the right arm.",
+    "Raise the metal laptop lid using the right arm."
+  ],
+  "unseen": [
+    "Open the medium laptop with silver body using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the foldable laptop's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode46.json b/open_laptop/demo_clean/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..3afb592c7a34a4671903fe928bd6bb1c6b8b34e1
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the thin portable laptop",
+    "Gently open the foldable laptop.",
+    "Pull the medium rectangular orange laptop open with the right arm.",
+    "Slide the blue screen foldable laptop open with the right arm.",
+    "Open the hinged screen laptop lifting with the right arm",
+    "Open the laptop with folding lid by lifting its lid.",
+    "Gently raise the orange laptop using the right arm.",
+    "Open the hinged screen laptop entirely.",
+    "Use the right arm to open the orange laptop.",
+    "Lift the laptop with black hinge area's lid using the right arm.",
+    "Use the right arm to open the blue screen portable laptop.",
+    "Lift the plastic orange laptop with metal parts to open.",
+    "Raise the plastic orange laptop with metal parts lid with the right arm.",
+    "Lift the laptop with blue screen's lid upwards.",
+    "Open the foldable laptop completely.",
+    "Fully lift the medium rectangular orange laptop using the right arm.",
+    "Raise the plastic orange laptop with metal parts using the right arm firmly.",
+    "Pull open the laptop with folding lid",
+    "Pull the blue screen foldable laptop's lid upward.",
+    "Raise the laptop with folding lid using the right arm.",
+    "Use the right arm to raise the blue screen portable laptop.",
+    "Fully open the the rectangular laptop with orange body.",
+    "Gently lift the rectangular laptop with orange body using the right arm",
+    "Raise the top of the blue screen portable laptop",
+    "Lift and open the blue screen portable laptop.",
+    "Gently open the plastic orange laptop with metal parts upward.",
+    "Hold the laptop with black hinge area steady, lift lid.",
+    "Push the thin portable laptop's lid upward using the right arm.",
+    "Raise the lid of the blue screen portable laptop.",
+    "Carefully open the hinged screen laptop using the right arm",
+    "Lift the hinged screen laptop to open it up",
+    "Pull up the lid of the hinged screen laptop",
+    "Lift the orange laptop open with the right arm.",
+    "Use the right arm to raise the foldable laptop.",
+    "Pull the blue screen foldable laptop upward lightly.",
+    "Raise the blue screen portable laptop lid using the right arm.",
+    "Raise the hinged screen laptop using the right arm.",
+    "Use the right arm to open the laptop with blue screen",
+    "With the right arm, open the laptop with folding lid's lid.",
+    "Pull the lid of the foldable laptop upward.",
+    "Grip and lift the foldable laptop's lid.",
+    "Raise and open the laptop with blue screen.",
+    "Lift the plastic orange laptop with metal parts lid completely.",
+    "Open the laptop with black hinge area carefully with the right arm.",
+    "Use the right arm to raise the rectangular laptop with orange body.",
+    "Use the right arm to open the blue screen portable laptop.",
+    "Raise the orange laptop to expose the screen",
+    "Pull the screen of the laptop with blue screen.",
+    "Lift the rectangular laptop with orange body slightly.",
+    "Raise the laptop with black hinge area's top section.",
+    "Use the right arm to lift the laptop with black hinge area",
+    "Gently open the plastic orange laptop with metal parts.",
+    "Pull the hinged screen laptop open with the right arm.",
+    "Slide the medium rectangular orange laptop open with the right arm.",
+    "Open the foldable laptop lifting with the right arm",
+    "Open the hinged screen laptop by lifting its lid.",
+    "Gently raise the blue screen foldable laptop using the right arm.",
+    "Open the laptop with black hinge area entirely.",
+    "Use the right arm to open the foldable laptop.",
+    "Lift the hinged screen laptop's lid using the right arm.",
+    "Use the right arm to open the orange laptop.",
+    "Lift the foldable laptop to open.",
+    "Raise the laptop with folding lid lid with the right arm.",
+    "Lift the thin portable laptop's lid upwards.",
+    "Open the rectangular laptop with orange body completely.",
+    "Fully lift the hinged screen laptop using the right arm.",
+    "Raise the thin portable laptop using the right arm firmly.",
+    "Pull open the foldable laptop",
+    "Pull the blue screen foldable laptop's lid upward.",
+    "Raise the blue screen portable laptop using the right arm.",
+    "Use the right arm to raise the laptop with folding lid.",
+    "Fully open the the laptop with folding lid.",
+    "Gently lift the blue screen portable laptop using the right arm",
+    "Raise the top of the orange laptop",
+    "Lift and open the orange laptop.",
+    "Gently open the hinged screen laptop upward.",
+    "Hold the plastic orange laptop with metal parts steady, lift lid.",
+    "Push the orange laptop's lid upward using the right arm.",
+    "Raise the lid of the laptop with folding lid.",
+    "Carefully open the laptop with black hinge area using the right arm",
+    "Lift the plastic orange laptop with metal parts to open it up",
+    "Pull up the lid of the laptop with blue screen",
+    "Lift the rectangular laptop with orange body open with the right arm.",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Pull the hinged screen laptop upward lightly.",
+    "Raise the blue screen portable laptop lid using the right arm.",
+    "Raise the laptop with folding lid using the right arm.",
+    "Use the right arm to open the laptop with blue screen",
+    "With the right arm, open the laptop with black hinge area's lid.",
+    "Pull the lid of the blue screen portable laptop upward.",
+    "Grip and lift the orange laptop's lid.",
+    "Raise and open the laptop with blue screen.",
+    "Lift the laptop with black hinge area lid completely.",
+    "Open the plastic orange laptop with metal parts carefully with the right arm.",
+    "Use the right arm to raise the plastic orange laptop with metal parts.",
+    "Use the right arm to open the rectangular laptop with orange body.",
+    "Raise the hinged screen laptop to expose the screen",
+    "Pull the screen of the rectangular laptop with orange body.",
+    "Lift the thin portable laptop slightly.",
+    "Raise the plastic orange laptop with metal parts's top section."
+  ],
+  "unseen": [
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the flat orange laptop's lid gently.",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Open the flat orange laptop with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the flat orange laptop with one motion.",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Open the flat orange laptop with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the flat orange laptop using the right arm",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Open the flat orange laptop with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Pull up the flat orange laptop's lid.",
+    "Lift the flat orange laptop's lid gently.",
+    "Open the laptop with smooth surfaces with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the flat orange laptop using the right arm",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Open the laptop with smooth surfaces with care",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the flat orange laptop using the right arm",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Open the flat orange laptop using the right arm.",
+    "Lift the compact laptop with orange exterior using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode47.json b/open_laptop/demo_clean/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..127ce8fa7da8d72096fb158b72896f0a8d85ce22
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the sleek black Toshiba computing laptop to expose the screen",
+    "Raise the lid of the portable folding Toshiba laptop.",
+    "Use the left arm to open the medium black rectangular laptop",
+    "Pull the black laptop with smooth matte surface upward lightly.",
+    "Lift the sleek black Toshiba computing laptop slightly.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Open the Toshiba laptop with rectangular screen by lifting its lid.",
+    "Raise the folding laptop with screen and keyboard lid with the left arm.",
+    "Gently open the black laptop upward.",
+    "Use the left arm to open the black laptop with smooth matte surface.",
+    "Carefully open the foldable black laptop using the left arm",
+    "Fully open the the black laptop with smooth matte surface.",
+    "Lift the medium black rectangular laptop to open.",
+    "Raise the Toshiba laptop using the left arm.",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "Grip and lift the portable folding Toshiba laptop's lid.",
+    "Pull the screen of the black laptop with hinge mechanism.",
+    "Open the portable folding Toshiba laptop entirely.",
+    "Raise and open the black laptop.",
+    "Lift the Toshiba laptop's lid using the left arm.",
+    "Lift the black laptop with red text underneath lid completely.",
+    "With the left arm, open the black laptop with red Toshiba logo's lid.",
+    "Use the left arm to open the Toshiba laptop.",
+    "Use the left arm to raise the sleek black Toshiba computing laptop.",
+    "Raise the portable folding Toshiba laptop using the left arm.",
+    "Lift the black laptop with hinge mechanism open with the left arm.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Pull open the black laptop with hinge mechanism",
+    "Gently lift the medium black rectangular laptop using the left arm",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Pull the Toshiba laptop with rectangular screen open with the left arm.",
+    "Raise the top of the Toshiba laptop",
+    "Use the left arm to raise the black laptop with hinge mechanism.",
+    "Lift the black laptop with smooth matte surface's lid upwards.",
+    "Raise the black laptop using the left arm firmly.",
+    "Hold the black laptop with hinge mechanism steady, lift lid.",
+    "Push the black laptop with red text underneath's lid upward using the left arm.",
+    "Lift the black laptop with hinge mechanism to open it up",
+    "Raise the black laptop lid using the left arm.",
+    "Fully lift the black laptop with red text underneath using the left arm.",
+    "Slide the foldable black laptop open with the left arm.",
+    "Pull the foldable black laptop's lid upward.",
+    "Gently raise the folding laptop with screen and keyboard using the left arm.",
+    "Open the Toshiba laptop carefully with the left arm.",
+    "Lift and open the portable folding Toshiba laptop.",
+    "Pull the lid of the black laptop with smooth matte surface upward.",
+    "Use the left arm to lift the Toshiba laptop with rectangular screen",
+    "Open the sleek black Toshiba computing laptop lifting with the left arm",
+    "Raise the black laptop with hinge mechanism's top section.",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Raise the sleek black Toshiba computing laptop to expose the screen",
+    "Raise the lid of the black laptop.",
+    "Use the left arm to open the Toshiba laptop",
+    "Pull the Toshiba laptop with rectangular screen upward lightly.",
+    "Lift the Toshiba laptop with rectangular screen slightly.",
+    "Use the left arm to raise the sleek black Toshiba computing laptop.",
+    "Open the black laptop with red text underneath by lifting its lid.",
+    "Raise the black laptop lid with the left arm.",
+    "Gently open the medium black rectangular laptop upward.",
+    "Use the left arm to open the sleek black Toshiba computing laptop.",
+    "Carefully open the black laptop with smooth matte surface using the left arm",
+    "Fully open the the medium black rectangular laptop.",
+    "Lift the black laptop with red Toshiba logo to open.",
+    "Raise the black laptop using the left arm.",
+    "Use the left arm to open the black laptop with hinge mechanism.",
+    "Grip and lift the sleek black Toshiba computing laptop's lid.",
+    "Pull the screen of the black laptop with red Toshiba logo.",
+    "Open the black laptop with red text underneath entirely.",
+    "Raise and open the Toshiba laptop.",
+    "Lift the medium black rectangular laptop's lid using the left arm.",
+    "Lift the black laptop with smooth matte surface lid completely.",
+    "With the left arm, open the black laptop with smooth matte surface's lid.",
+    "Use the left arm to open the sleek black Toshiba computing laptop.",
+    "Use the left arm to raise the sleek black Toshiba computing laptop.",
+    "Raise the portable folding Toshiba laptop using the left arm.",
+    "Lift the black laptop with red Toshiba logo open with the left arm.",
+    "Open the black laptop completely.",
+    "Pull open the black laptop with red Toshiba logo",
+    "Gently lift the Toshiba laptop using the left arm",
+    "Pull up the lid of the Toshiba laptop",
+    "Pull the Toshiba laptop with rectangular screen open with the left arm.",
+    "Raise the top of the medium black rectangular laptop",
+    "Use the left arm to raise the Toshiba laptop.",
+    "Lift the black laptop's lid upwards.",
+    "Raise the black laptop with red text underneath using the left arm firmly.",
+    "Hold the folding laptop with screen and keyboard steady, lift lid.",
+    "Push the black laptop with red Toshiba logo's lid upward using the left arm.",
+    "Lift the black laptop with smooth matte surface to open it up",
+    "Raise the Toshiba laptop with rectangular screen lid using the left arm.",
+    "Fully lift the medium black rectangular laptop using the left arm.",
+    "Slide the sleek black Toshiba computing laptop open with the left arm.",
+    "Pull the black laptop with red Toshiba logo's lid upward.",
+    "Gently raise the foldable black laptop using the left arm.",
+    "Open the Toshiba laptop with rectangular screen carefully with the left arm.",
+    "Lift and open the black laptop with hinge mechanism.",
+    "Pull the lid of the portable folding Toshiba laptop upward.",
+    "Use the left arm to lift the folding laptop with screen and keyboard",
+    "Open the black laptop with red text underneath lifting with the left arm",
+    "Raise the Toshiba laptop's top section.",
+    "Gently open the black laptop with hinge mechanism."
+  ],
+  "unseen": [
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop fitting laptop bags carefully using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode48.json b/open_laptop/demo_clean/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae90f9cc911c20f79541d1c8ccf3c3d3ebe89eac
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue bottom foldable black laptop to open it up",
+    "Push the blue base black lid laptop's lid upward using the right arm.",
+    "Raise the top of the portable laptop",
+    "Use the right arm to raise the black laptop with sharp rectangular edges.",
+    "Pull the lid of the laptop for browsing and computing upward.",
+    "Use the right arm to open the foldable laptop with screen.",
+    "Pull the screen of the medium-sized laptop for work.",
+    "Lift the portable laptop's lid upwards.",
+    "Lift and open the laptop for browsing and computing.",
+    "Grip and lift the rectangular laptop with foldable hinge's lid.",
+    "Raise the portable laptop lid with the right arm.",
+    "Open the black laptop with sharp rectangular edges entirely.",
+    "Use the right arm to open the compact black laptop.",
+    "Raise the blue-black laptop using the right arm.",
+    "Pull open the black-and-blue laptop with keyboard",
+    "Gently open the rectangular laptop with foldable hinge upward.",
+    "Gently open the medium-sized laptop for work.",
+    "With the right arm, open the rectangular laptop with foldable hinge's lid.",
+    "Raise the black laptop with blue bottom panel's top section.",
+    "Gently lift the blue base black lid laptop using the right arm",
+    "Fully lift the black laptop with blue bottom panel using the right arm.",
+    "Gently raise the black laptop with blue bottom panel using the right arm.",
+    "Raise the medium-sized laptop for work to expose the screen",
+    "Lift the blue bottom foldable black laptop slightly.",
+    "Lift the portable laptop's lid using the right arm.",
+    "Raise and open the blue-black laptop.",
+    "Slide the compact black laptop open with the right arm.",
+    "Use the right arm to open the portable laptop.",
+    "Fully open the the black laptop with sharp rectangular edges.",
+    "Lift the blue base black lid laptop lid completely.",
+    "Raise the medium-sized laptop for work lid using the right arm.",
+    "Raise the foldable laptop with screen using the right arm firmly.",
+    "Use the right arm to raise the portable laptop.",
+    "Hold the foldable laptop with screen steady, lift lid.",
+    "Pull the black laptop with sharp rectangular edges open with the right arm.",
+    "Use the right arm to open the blue-black laptop",
+    "Raise the lid of the laptop for browsing and computing.",
+    "Open the blue-black laptop lifting with the right arm",
+    "Open the black-and-blue laptop with keyboard completely.",
+    "Open the foldable laptop with screen by lifting its lid.",
+    "Lift the black-and-blue laptop with keyboard open with the right arm.",
+    "Lift the black-and-blue laptop with keyboard to open.",
+    "Pull the laptop for browsing and computing upward lightly.",
+    "Pull up the lid of the rectangular laptop with foldable hinge",
+    "Pull the rectangular laptop with foldable hinge's lid upward.",
+    "Open the rectangular laptop with foldable hinge carefully with the right arm.",
+    "Carefully open the portable laptop using the right arm",
+    "Raise the rectangular laptop with foldable hinge using the right arm.",
+    "Use the right arm to raise the foldable laptop with screen.",
+    "Use the right arm to lift the compact black laptop",
+    "Lift the medium-sized laptop for work to open it up",
+    "Push the medium-sized laptop for work's lid upward using the right arm.",
+    "Raise the top of the blue base black lid laptop",
+    "Use the right arm to raise the medium-sized laptop for work.",
+    "Pull the lid of the laptop for browsing and computing upward.",
+    "Use the right arm to open the blue bottom foldable black laptop.",
+    "Pull the screen of the medium-sized laptop for work.",
+    "Lift the laptop for browsing and computing's lid upwards.",
+    "Lift and open the blue-black laptop.",
+    "Grip and lift the rectangular laptop with foldable hinge's lid.",
+    "Raise the foldable laptop with screen lid with the right arm.",
+    "Open the blue-black laptop entirely.",
+    "Use the right arm to open the compact black laptop.",
+    "Raise the blue-black laptop using the right arm.",
+    "Pull open the medium-sized laptop for work",
+    "Gently open the laptop for browsing and computing upward.",
+    "Gently open the blue bottom foldable black laptop.",
+    "With the right arm, open the black laptop with blue bottom panel's lid.",
+    "Raise the compact black laptop's top section.",
+    "Gently lift the black laptop with sharp rectangular edges using the right arm",
+    "Fully lift the black laptop with blue bottom panel using the right arm.",
+    "Gently raise the compact black laptop using the right arm.",
+    "Raise the black-and-blue laptop with keyboard to expose the screen",
+    "Lift the rectangular laptop with foldable hinge slightly.",
+    "Lift the rectangular laptop with foldable hinge's lid using the right arm.",
+    "Raise and open the blue-black laptop.",
+    "Slide the medium-sized laptop for work open with the right arm.",
+    "Use the right arm to open the rectangular laptop with foldable hinge.",
+    "Fully open the the foldable laptop with screen.",
+    "Lift the blue base black lid laptop lid completely.",
+    "Raise the black laptop with blue bottom panel lid using the right arm.",
+    "Raise the black-and-blue laptop with keyboard using the right arm firmly.",
+    "Use the right arm to raise the portable laptop.",
+    "Hold the blue bottom foldable black laptop steady, lift lid.",
+    "Pull the black laptop with blue bottom panel open with the right arm.",
+    "Use the right arm to open the medium-sized laptop for work",
+    "Raise the lid of the foldable laptop with screen.",
+    "Open the blue bottom foldable black laptop lifting with the right arm",
+    "Open the foldable laptop with screen completely.",
+    "Open the foldable laptop with screen by lifting its lid.",
+    "Lift the blue-black laptop open with the right arm.",
+    "Lift the portable laptop to open.",
+    "Pull the black laptop with blue bottom panel upward lightly.",
+    "Pull up the lid of the foldable laptop with screen",
+    "Pull the blue base black lid laptop's lid upward.",
+    "Open the medium-sized laptop for work carefully with the right arm.",
+    "Carefully open the compact black laptop using the right arm",
+    "Raise the laptop for browsing and computing using the right arm.",
+    "Use the right arm to raise the compact black laptop.",
+    "Use the right arm to lift the blue-black laptop"
+  ],
+  "unseen": [
+    "Lift the black laptop using the right arm",
+    "Open the smooth black plastic laptop with care",
+    "Open the black laptop with one motion.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the black laptop using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the black laptop using the right arm",
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the black laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Open the black laptop with care",
+    "Open the black laptop with one motion.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the black laptop carefully using the right arm.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Open the black laptop with care",
+    "Open the black laptop with one motion.",
+    "Lift the black laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Pull up the black laptop's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the black laptop using the right arm",
+    "Open the laptop with display and keyboard with care",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the black laptop using the right arm.",
+    "Open the black laptop using the right arm.",
+    "Grab the black laptop and open it.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the black laptop using the right arm",
+    "Open the black laptop with care",
+    "Open the black laptop with one motion.",
+    "Lift the black laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Grab the black laptop and open it.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Open the black laptop with care",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Grab the black laptop and open it.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the black laptop carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Open the smooth black plastic laptop with care",
+    "Open the black laptop with one motion.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Pull up the black laptop's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the black laptop using the right arm",
+    "Open the smooth black plastic laptop with care",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the black laptop using the right arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Pull up the black laptop's lid.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Open the smooth black plastic laptop with care",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Grab the black laptop and open it.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop's lid gently.",
+    "Open the black laptop carefully using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode49.json b/open_laptop/demo_clean/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfca629cb44633083b583cf3f0817b24781ec7e0
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the rectangular laptop with screen entirely.",
+    "Raise the slim laptop to expose the screen",
+    "Fully open the the laptop with black keyboard.",
+    "Pull the screen of the rectangular laptop with screen.",
+    "Lift the rectangular laptop with screen's lid using the right arm.",
+    "Use the right arm to raise the lightweight silver laptop.",
+    "Use the right arm to open the rectangular laptop with screen.",
+    "Pull the lightweight silver laptop's lid upward.",
+    "Lift the slim laptop open with the right arm.",
+    "Raise the lid of the lightweight silver laptop.",
+    "Raise the laptop with black keyboard using the right arm.",
+    "Open the portable slim laptop lifting with the right arm",
+    "Pull the laptop with smooth surface open with the right arm.",
+    "With the right arm, open the slim laptop's lid.",
+    "Slide the compact silver laptop open with the right arm.",
+    "Use the right arm to raise the silver laptop with dark keys.",
+    "Lift and open the laptop with foldable screen design.",
+    "Grip and lift the metal laptop with black keys's lid.",
+    "Carefully open the lightweight silver laptop using the right arm",
+    "Raise the slim laptop using the right arm.",
+    "Raise the laptop with black keyboard lid using the right arm.",
+    "Pull the rectangular laptop with screen upward lightly.",
+    "Use the right arm to open the compact silver laptop.",
+    "Lift the laptop with smooth surface's lid upwards.",
+    "Lift the silver laptop with dark keys to open it up",
+    "Pull up the lid of the medium-sized silver laptop",
+    "Gently open the rectangular laptop with screen.",
+    "Lift the laptop with metallic finish to open.",
+    "Raise the laptop with black keyboard using the right arm firmly.",
+    "Open the metal laptop with black keys completely.",
+    "Open the laptop with black keyboard carefully with the right arm.",
+    "Use the right arm to open the laptop with metallic finish",
+    "Use the right arm to raise the laptop with metallic finish.",
+    "Gently raise the medium-sized silver laptop using the right arm.",
+    "Use the right arm to lift the rectangular laptop with screen",
+    "Raise and open the medium-sized silver laptop.",
+    "Raise the top of the rectangular laptop with screen",
+    "Pull open the portable slim laptop",
+    "Gently lift the laptop with foldable screen design using the right arm",
+    "Use the right arm to open the portable slim laptop.",
+    "Lift the compact silver laptop lid completely.",
+    "Raise the silver laptop with dark keys lid with the right arm.",
+    "Pull the lid of the compact silver laptop upward.",
+    "Fully lift the laptop with black keyboard using the right arm.",
+    "Raise the compact silver laptop's top section.",
+    "Lift the lightweight silver laptop slightly.",
+    "Gently open the laptop with smooth surface upward.",
+    "Push the lightweight silver laptop's lid upward using the right arm.",
+    "Hold the laptop with foldable screen design steady, lift lid.",
+    "Open the compact silver laptop by lifting its lid.",
+    "Open the laptop with smooth surface entirely.",
+    "Raise the laptop with smooth surface to expose the screen",
+    "Fully open the the medium-sized silver laptop.",
+    "Pull the screen of the laptop with metallic finish.",
+    "Lift the compact silver laptop's lid using the right arm.",
+    "Use the right arm to raise the laptop with metallic finish.",
+    "Use the right arm to open the lightweight silver laptop.",
+    "Pull the compact silver laptop's lid upward.",
+    "Lift the laptop with smooth surface open with the right arm.",
+    "Raise the lid of the laptop with metallic finish.",
+    "Raise the compact silver laptop using the right arm.",
+    "Open the laptop with metallic finish lifting with the right arm",
+    "Pull the rectangular laptop with screen open with the right arm.",
+    "With the right arm, open the rectangular laptop with screen's lid.",
+    "Slide the laptop with foldable screen design open with the right arm.",
+    "Use the right arm to raise the laptop with foldable screen design.",
+    "Lift and open the laptop with metallic finish.",
+    "Grip and lift the laptop with metallic finish's lid.",
+    "Carefully open the laptop with smooth surface using the right arm",
+    "Raise the slim laptop using the right arm.",
+    "Raise the compact silver laptop lid using the right arm.",
+    "Pull the rectangular laptop with screen upward lightly.",
+    "Use the right arm to open the laptop with foldable screen design.",
+    "Lift the laptop with foldable screen design's lid upwards.",
+    "Lift the slim laptop to open it up",
+    "Pull up the lid of the slim laptop",
+    "Gently open the laptop with foldable screen design.",
+    "Lift the metal laptop with black keys to open.",
+    "Raise the portable slim laptop using the right arm firmly.",
+    "Open the lightweight silver laptop completely.",
+    "Open the laptop with metallic finish carefully with the right arm.",
+    "Use the right arm to open the lightweight silver laptop",
+    "Use the right arm to raise the slim laptop.",
+    "Gently raise the silver laptop with dark keys using the right arm.",
+    "Use the right arm to lift the slim laptop",
+    "Raise and open the lightweight silver laptop.",
+    "Raise the top of the medium-sized silver laptop",
+    "Pull open the medium-sized silver laptop",
+    "Gently lift the laptop with smooth surface using the right arm",
+    "Use the right arm to open the lightweight silver laptop.",
+    "Lift the slim laptop lid completely.",
+    "Raise the laptop with smooth surface lid with the right arm.",
+    "Pull the lid of the slim laptop upward.",
+    "Fully lift the rectangular laptop with screen using the right arm.",
+    "Raise the silver laptop with dark keys's top section.",
+    "Lift the metal laptop with black keys slightly.",
+    "Gently open the slim laptop upward.",
+    "Push the silver laptop with dark keys's lid upward using the right arm.",
+    "Hold the laptop with metallic finish steady, lift lid.",
+    "Open the compact silver laptop by lifting its lid."
+  ],
+  "unseen": [
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the silver laptop using the right arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Open the silver laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Pull up the silver laptop's lid.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop with care",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop with care",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Pull up the silver laptop's lid.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop with care",
+    "Pull up the foldable laptop's lid.",
+    "Open the silver laptop using the right arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the silver laptop with one motion.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop using the right arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop with care"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode5.json b/open_laptop/demo_clean/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdc3e2e45c8cb448f1dab8a0d5d3d57edac2ec9e
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized silver laptop slightly.",
+    "Raise the metal laptop with black keys lid using the left arm.",
+    "Lift the laptop with metallic finish lid completely.",
+    "Lift the laptop with foldable screen design to open it up",
+    "Pull the silver laptop with dark keys upward lightly.",
+    "Lift the laptop with smooth surface to open.",
+    "Use the left arm to open the laptop with foldable screen design.",
+    "With the left arm, open the metal laptop with black keys's lid.",
+    "Pull the screen of the laptop with foldable screen design.",
+    "Raise the lid of the rectangular laptop with screen.",
+    "Use the left arm to raise the laptop with metallic finish.",
+    "Grip and lift the laptop with foldable screen design's lid.",
+    "Gently lift the compact silver laptop using the left arm",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Pull the lid of the medium-sized silver laptop upward.",
+    "Raise the laptop with black keyboard to expose the screen",
+    "Raise the silver laptop with dark keys lid with the left arm.",
+    "Hold the slim laptop steady, lift lid.",
+    "Pull open the laptop with smooth surface",
+    "Raise the portable slim laptop using the left arm firmly.",
+    "Push the laptop with black keyboard's lid upward using the left arm.",
+    "Slide the rectangular laptop with screen open with the left arm.",
+    "Open the laptop with metallic finish lifting with the left arm",
+    "Open the laptop with foldable screen design entirely.",
+    "Raise the laptop with foldable screen design using the left arm.",
+    "Gently open the medium-sized silver laptop.",
+    "Use the left arm to open the laptop with metallic finish",
+    "Fully lift the slim laptop using the left arm.",
+    "Lift the lightweight silver laptop's lid upwards.",
+    "Pull the laptop with smooth surface open with the left arm.",
+    "Lift the laptop with foldable screen design's lid using the left arm.",
+    "Raise the compact silver laptop's top section.",
+    "Use the left arm to raise the laptop with metallic finish.",
+    "Raise the top of the compact silver laptop",
+    "Open the portable slim laptop by lifting its lid.",
+    "Open the compact silver laptop completely.",
+    "Raise the laptop with metallic finish using the left arm.",
+    "Gently raise the lightweight silver laptop using the left arm.",
+    "Lift the compact silver laptop open with the left arm.",
+    "Use the left arm to open the laptop with metallic finish.",
+    "Carefully open the portable slim laptop using the left arm",
+    "Gently open the portable slim laptop upward.",
+    "Pull the rectangular laptop with screen's lid upward.",
+    "Use the left arm to raise the slim laptop.",
+    "Use the left arm to lift the laptop with metallic finish",
+    "Fully open the the rectangular laptop with screen.",
+    "Lift and open the compact silver laptop.",
+    "Pull up the lid of the laptop with smooth surface",
+    "Open the medium-sized silver laptop carefully with the left arm.",
+    "Raise and open the metal laptop with black keys.",
+    "Lift the laptop with black keyboard slightly.",
+    "Raise the rectangular laptop with screen lid using the left arm.",
+    "Lift the laptop with foldable screen design lid completely.",
+    "Lift the slim laptop to open it up",
+    "Pull the metal laptop with black keys upward lightly.",
+    "Lift the slim laptop to open.",
+    "Use the left arm to open the silver laptop with dark keys.",
+    "With the left arm, open the slim laptop's lid.",
+    "Pull the screen of the laptop with metallic finish.",
+    "Raise the lid of the laptop with foldable screen design.",
+    "Use the left arm to raise the compact silver laptop.",
+    "Grip and lift the portable slim laptop's lid.",
+    "Gently lift the laptop with metallic finish using the left arm",
+    "Use the left arm to open the silver laptop with dark keys.",
+    "Pull the lid of the silver laptop with dark keys upward.",
+    "Raise the portable slim laptop to expose the screen",
+    "Raise the medium-sized silver laptop lid with the left arm.",
+    "Hold the slim laptop steady, lift lid.",
+    "Pull open the laptop with smooth surface",
+    "Raise the laptop with metallic finish using the left arm firmly.",
+    "Push the medium-sized silver laptop's lid upward using the left arm.",
+    "Slide the slim laptop open with the left arm.",
+    "Open the metal laptop with black keys lifting with the left arm",
+    "Open the portable slim laptop entirely.",
+    "Raise the laptop with smooth surface using the left arm.",
+    "Gently open the silver laptop with dark keys.",
+    "Use the left arm to open the portable slim laptop",
+    "Fully lift the silver laptop with dark keys using the left arm.",
+    "Lift the compact silver laptop's lid upwards.",
+    "Pull the silver laptop with dark keys open with the left arm.",
+    "Lift the compact silver laptop's lid using the left arm.",
+    "Raise the silver laptop with dark keys's top section.",
+    "Use the left arm to raise the lightweight silver laptop.",
+    "Raise the top of the slim laptop",
+    "Open the lightweight silver laptop by lifting its lid.",
+    "Open the lightweight silver laptop completely.",
+    "Raise the silver laptop with dark keys using the left arm.",
+    "Gently raise the portable slim laptop using the left arm.",
+    "Lift the rectangular laptop with screen open with the left arm.",
+    "Use the left arm to open the lightweight silver laptop.",
+    "Carefully open the compact silver laptop using the left arm",
+    "Gently open the laptop with smooth surface upward.",
+    "Pull the portable slim laptop's lid upward.",
+    "Use the left arm to raise the portable slim laptop.",
+    "Use the left arm to lift the slim laptop",
+    "Fully open the the laptop with metallic finish.",
+    "Lift and open the silver laptop with dark keys.",
+    "Pull up the lid of the laptop with foldable screen design",
+    "Open the laptop with metallic finish carefully with the left arm.",
+    "Raise and open the laptop with foldable screen design."
+  ],
+  "unseen": [
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the left arm",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the silver laptop using the left arm",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop using the left arm",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the left arm",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop with care",
+    "Open the silver laptop with one motion.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop using the left arm",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the left arm",
+    "Open the silver laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the silver laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the silver laptop using the left arm",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Open the foldable laptop with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode50.json b/open_laptop/demo_clean/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..8be1849a547ff71ff7182d2c8fda96cdfa9b8ceb
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the top of the blue-screen laptop",
+    "Hold the laptop with glass screen steady, lift lid.",
+    "Use the left arm to raise the medium-sized laptop.",
+    "Use the left arm to open the laptop with smooth texture.",
+    "Carefully open the medium-sized laptop using the left arm",
+    "Raise the laptop featuring smooth metal finish using the left arm firmly.",
+    "Raise the portable silver laptop to expose the screen",
+    "Pull up the lid of the rectangular laptop with hinge",
+    "Use the left arm to open the laptop with smooth texture.",
+    "With the left arm, open the laptop with silver base's lid.",
+    "Lift the hinged laptop with display lid completely.",
+    "Raise the rectangular laptop with hinge lid with the left arm.",
+    "Open the laptop with blue screen carefully with the left arm.",
+    "Raise the laptop with silver base's top section.",
+    "Push the laptop with blue screen's lid upward using the left arm.",
+    "Lift the laptop featuring smooth metal finish open with the left arm.",
+    "Raise the laptop for computing using the left arm.",
+    "Fully open the the rectangular laptop with hinge.",
+    "Lift the blue-screen laptop to open.",
+    "Use the left arm to raise the rectangular laptop with hinge.",
+    "Pull open the laptop with silver base",
+    "Use the left arm to lift the rectangular laptop with hinge",
+    "Use the left arm to raise the laptop with glass screen.",
+    "Gently raise the laptop featuring smooth metal finish using the left arm.",
+    "Gently open the laptop with glass screen.",
+    "Use the left arm to open the portable silver laptop.",
+    "Raise and open the laptop featuring smooth metal finish.",
+    "Lift the rectangular laptop with hinge's lid using the left arm.",
+    "Gently open the laptop with glass screen upward.",
+    "Pull the laptop featuring smooth metal finish open with the left arm.",
+    "Pull the lid of the medium-sized laptop upward.",
+    "Open the medium-sized laptop completely.",
+    "Gently lift the portable silver laptop using the left arm",
+    "Lift the laptop with glass screen to open it up",
+    "Lift and open the laptop with silver base.",
+    "Raise the metallic laptop using the left arm.",
+    "Pull the laptop with silver base's lid upward.",
+    "Pull the screen of the medium-sized laptop.",
+    "Raise the lid of the metallic laptop.",
+    "Open the laptop featuring smooth metal finish by lifting its lid.",
+    "Pull the laptop with glass screen upward lightly.",
+    "Open the laptop for computing lifting with the left arm",
+    "Slide the medium-sized laptop open with the left arm.",
+    "Grip and lift the hinged laptop with display's lid.",
+    "Lift the portable silver laptop slightly.",
+    "Use the left arm to open the hinged laptop with display",
+    "Open the laptop with smooth texture entirely.",
+    "Fully lift the laptop with smooth texture using the left arm.",
+    "Raise the medium-sized laptop lid using the left arm.",
+    "Lift the rectangular laptop with hinge's lid upwards.",
+    "Raise the top of the portable silver laptop",
+    "Hold the laptop featuring smooth metal finish steady, lift lid.",
+    "Use the left arm to raise the laptop with silver base.",
+    "Use the left arm to open the portable silver laptop.",
+    "Carefully open the laptop for computing using the left arm",
+    "Raise the blue-screen laptop using the left arm firmly.",
+    "Raise the laptop featuring smooth metal finish to expose the screen",
+    "Pull up the lid of the hinged laptop with display",
+    "Use the left arm to open the blue-screen laptop.",
+    "With the left arm, open the laptop with silver base's lid.",
+    "Lift the laptop featuring smooth metal finish lid completely.",
+    "Raise the laptop with blue screen lid with the left arm.",
+    "Open the laptop with silver base carefully with the left arm.",
+    "Raise the laptop for computing's top section.",
+    "Push the portable silver laptop's lid upward using the left arm.",
+    "Lift the rectangular laptop with hinge open with the left arm.",
+    "Raise the laptop with smooth texture using the left arm.",
+    "Fully open the the laptop for computing.",
+    "Lift the blue-screen laptop to open.",
+    "Use the left arm to raise the laptop with blue screen.",
+    "Pull open the laptop with blue screen",
+    "Use the left arm to lift the laptop with blue screen",
+    "Use the left arm to raise the laptop featuring smooth metal finish.",
+    "Gently raise the medium-sized laptop using the left arm.",
+    "Gently open the laptop with glass screen.",
+    "Use the left arm to open the laptop with smooth texture.",
+    "Raise and open the rectangular laptop with hinge.",
+    "Lift the laptop with blue screen's lid using the left arm.",
+    "Gently open the portable silver laptop upward.",
+    "Pull the hinged laptop with display open with the left arm.",
+    "Pull the lid of the portable silver laptop upward.",
+    "Open the laptop with glass screen completely.",
+    "Gently lift the laptop featuring smooth metal finish using the left arm",
+    "Lift the laptop with glass screen to open it up",
+    "Lift and open the laptop featuring smooth metal finish.",
+    "Raise the laptop with glass screen using the left arm.",
+    "Pull the laptop with silver base's lid upward.",
+    "Pull the screen of the blue-screen laptop.",
+    "Raise the lid of the laptop with smooth texture.",
+    "Open the blue-screen laptop by lifting its lid.",
+    "Pull the medium-sized laptop upward lightly.",
+    "Open the laptop featuring smooth metal finish lifting with the left arm",
+    "Slide the blue-screen laptop open with the left arm.",
+    "Grip and lift the blue-screen laptop's lid.",
+    "Lift the laptop with blue screen slightly.",
+    "Use the left arm to open the laptop with glass screen",
+    "Open the laptop featuring smooth metal finish entirely.",
+    "Fully lift the laptop with smooth texture using the left arm.",
+    "Raise the metallic laptop lid using the left arm.",
+    "Lift the laptop with blue screen's lid upwards."
+  ],
+  "unseen": [
+    "Lift the silver laptop's lid gently.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the sleek laptop with care",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the left arm.",
+    "Lift the compact silver laptop using the left arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the silver laptop's lid.",
+    "Lift the compact silver laptop using the left arm.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Open the compact silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Pull up the silver laptop's lid.",
+    "Lift the compact silver laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Open the compact silver laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the sleek laptop with care",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop using the left arm.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the sleek laptop using the left arm.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the silver laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the compact silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the silver laptop's lid.",
+    "Lift the compact silver laptop using the left arm.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the sleek laptop using the left arm.",
+    "Open the sleek laptop with care",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the compact silver laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop using the left arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the silver laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop using the left arm.",
+    "Open the compact silver laptop with care",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop using the left arm.",
+    "Lift the silver laptop using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode51.json b/open_laptop/demo_clean/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a5989711f91bd79bd39707ec271a0cef860e3ea
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the black and silver laptop's top section.",
+    "Fully lift the silver laptop with foldable parts using the left arm.",
+    "Lift the black screen laptop to open it up",
+    "Slide the silver laptop open with the left arm.",
+    "Fully open the the silver laptop.",
+    "Grip and lift the wood surrounded laptop's lid.",
+    "Raise the silver laptop with foldable parts to expose the screen",
+    "Pull open the laptop with black textured screen",
+    "Use the left arm to open the keyboard laptop.",
+    "Use the left arm to open the silver laptop",
+    "Open the silver laptop with foldable parts entirely.",
+    "Open the silver laptop by lifting its lid.",
+    "Pull the silver laptop with foldable parts's lid upward.",
+    "Lift the laptop with black textured screen's lid using the left arm.",
+    "Gently raise the silver laptop using the left arm.",
+    "Raise the silver laptop with foldable parts using the left arm.",
+    "Lift and open the smooth textured laptop.",
+    "Raise the lid of the black screen laptop.",
+    "Pull up the lid of the wood surrounded laptop",
+    "Use the left arm to open the black screen laptop.",
+    "Lift the silver laptop with foldable parts lid completely.",
+    "Hold the smooth textured laptop steady, lift lid.",
+    "Open the black screen laptop carefully with the left arm.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Raise the silver laptop with foldable parts using the left arm.",
+    "Raise the keyboard laptop using the left arm firmly.",
+    "Pull the metal laptop upward lightly.",
+    "Raise the top of the silver laptop with black keyboard",
+    "Use the left arm to open the silver laptop.",
+    "Use the left arm to lift the keyboard laptop",
+    "With the left arm, open the black and silver laptop's lid.",
+    "Pull the screen of the silver laptop.",
+    "Open the black screen laptop lifting with the left arm",
+    "Raise the smooth textured laptop lid using the left arm.",
+    "Raise and open the black and silver laptop.",
+    "Lift the laptop with wood panel background's lid upwards.",
+    "Carefully open the black screen laptop using the left arm",
+    "Lift the wood surrounded laptop slightly.",
+    "Gently open the wood surrounded laptop upward.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Use the left arm to raise the smooth textured laptop.",
+    "Gently lift the laptop with wood panel background using the left arm",
+    "Lift the black and silver laptop open with the left arm.",
+    "Push the black screen laptop's lid upward using the left arm.",
+    "Open the silver laptop with black keyboard completely.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Pull the keyboard laptop open with the left arm.",
+    "Gently open the laptop with wood panel background.",
+    "Lift the silver laptop to open.",
+    "Raise the black and silver laptop lid with the left arm.",
+    "Raise the smooth textured laptop's top section.",
+    "Fully lift the smooth textured laptop using the left arm.",
+    "Lift the metal laptop to open it up",
+    "Slide the keyboard laptop open with the left arm.",
+    "Fully open the the keyboard laptop.",
+    "Grip and lift the keyboard laptop's lid.",
+    "Raise the black and silver laptop to expose the screen",
+    "Pull open the metal laptop",
+    "Use the left arm to open the keyboard laptop.",
+    "Use the left arm to open the laptop with black textured screen",
+    "Open the keyboard laptop entirely.",
+    "Open the silver laptop by lifting its lid.",
+    "Pull the smooth textured laptop's lid upward.",
+    "Lift the wood surrounded laptop's lid using the left arm.",
+    "Gently raise the silver laptop with black keyboard using the left arm.",
+    "Raise the metal laptop using the left arm.",
+    "Lift and open the black and silver laptop.",
+    "Raise the lid of the black and silver laptop.",
+    "Pull up the lid of the metal laptop",
+    "Use the left arm to open the laptop with wood panel background.",
+    "Lift the metal laptop lid completely.",
+    "Hold the silver laptop with foldable parts steady, lift lid.",
+    "Open the smooth textured laptop carefully with the left arm.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Raise the smooth textured laptop using the left arm firmly.",
+    "Pull the silver laptop with foldable parts upward lightly.",
+    "Raise the top of the smooth textured laptop",
+    "Use the left arm to open the keyboard laptop.",
+    "Use the left arm to lift the laptop with black textured screen",
+    "With the left arm, open the silver laptop's lid.",
+    "Pull the screen of the wood surrounded laptop.",
+    "Open the laptop with wood panel background lifting with the left arm",
+    "Raise the black screen laptop lid using the left arm.",
+    "Raise and open the laptop with wood panel background.",
+    "Lift the metal laptop's lid upwards.",
+    "Carefully open the silver laptop with foldable parts using the left arm",
+    "Lift the laptop with wood panel background slightly.",
+    "Gently open the laptop with black textured screen upward.",
+    "Use the left arm to raise the silver laptop with foldable parts.",
+    "Use the left arm to raise the wood surrounded laptop.",
+    "Gently lift the wood surrounded laptop using the left arm",
+    "Lift the silver laptop with foldable parts open with the left arm.",
+    "Push the metal laptop's lid upward using the left arm.",
+    "Open the metal laptop completely.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Pull the smooth textured laptop open with the left arm.",
+    "Gently open the silver laptop with black keyboard.",
+    "Lift the black and silver laptop to open.",
+    "Raise the laptop with black textured screen lid with the left arm."
+  ],
+  "unseen": [
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop using the left arm",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop using the left arm",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with care",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode52.json b/open_laptop/demo_clean/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee9a542c913c544151540ae28041b90f8c579856
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black metallic laptop to open it up",
+    "Pull the compact black laptop open with the right arm.",
+    "Carefully open the laptop with red logo underside using the right arm",
+    "Hold the compact black laptop steady, lift lid.",
+    "With the right arm, open the black metallic laptop's lid.",
+    "Open the laptop with screen and keyboard entirely.",
+    "Gently open the laptop with red logo underside.",
+    "Raise and open the black laptop with red accents.",
+    "Grip and lift the laptop with red logo underside's lid.",
+    "Use the right arm to open the sleek laptop design.",
+    "Lift the black laptop open with the right arm.",
+    "Pull the lid of the compact black laptop upward.",
+    "Lift the laptop with screen and keyboard to open.",
+    "Pull open the lightweight laptop",
+    "Open the laptop featuring textured exterior by lifting its lid.",
+    "Use the right arm to open the laptop featuring textured exterior.",
+    "Pull the screen of the laptop featuring textured exterior.",
+    "Fully open the the compact black laptop.",
+    "Lift the laptop featuring textured exterior lid completely.",
+    "Raise the top of the lightweight laptop",
+    "Open the hinged laptop with screen and base lifting with the right arm",
+    "Pull the black laptop's lid upward.",
+    "Raise the hinged laptop with screen and base using the right arm.",
+    "Pull up the lid of the compact black laptop",
+    "Lift the foldable laptop with patterned keyboard's lid upwards.",
+    "Push the foldable laptop with patterned keyboard's lid upward using the right arm.",
+    "Pull the lightweight laptop upward lightly.",
+    "Open the foldable laptop with patterned keyboard completely.",
+    "Raise the laptop with red logo underside lid with the right arm.",
+    "Slide the sleek laptop design open with the right arm.",
+    "Use the right arm to open the laptop with screen and keyboard",
+    "Use the right arm to raise the black laptop.",
+    "Lift the laptop featuring textured exterior's lid using the right arm.",
+    "Lift and open the lightweight laptop.",
+    "Raise the laptop with screen and keyboard lid using the right arm.",
+    "Lift the laptop featuring textured exterior slightly.",
+    "Gently raise the lightweight laptop using the right arm.",
+    "Raise the black metallic laptop using the right arm.",
+    "Use the right arm to raise the laptop with red logo underside.",
+    "Gently open the black laptop with red accents upward.",
+    "Use the right arm to open the black metallic laptop.",
+    "Raise the lid of the black laptop with red accents.",
+    "Raise the foldable laptop with patterned keyboard's top section.",
+    "Raise the black laptop with red accents to expose the screen",
+    "Open the black laptop with red accents carefully with the right arm.",
+    "Use the right arm to lift the sleek laptop design",
+    "Gently lift the medium-sized laptop with black body using the right arm",
+    "Use the right arm to raise the black laptop with red accents.",
+    "Fully lift the foldable laptop with patterned keyboard using the right arm.",
+    "Raise the black laptop with red accents using the right arm firmly.",
+    "Lift the lightweight laptop to open it up",
+    "Pull the black metallic laptop open with the right arm.",
+    "Carefully open the foldable laptop with patterned keyboard using the right arm",
+    "Hold the black laptop steady, lift lid.",
+    "With the right arm, open the laptop with screen and keyboard's lid.",
+    "Open the hinged laptop with screen and base entirely.",
+    "Gently open the foldable laptop with patterned keyboard.",
+    "Raise and open the compact black laptop.",
+    "Grip and lift the black laptop with red accents's lid.",
+    "Use the right arm to open the laptop with red logo underside.",
+    "Lift the black laptop with red accents open with the right arm.",
+    "Pull the lid of the foldable laptop with patterned keyboard upward.",
+    "Lift the lightweight laptop to open.",
+    "Pull open the lightweight laptop",
+    "Open the laptop with red logo underside by lifting its lid.",
+    "Use the right arm to open the foldable laptop with patterned keyboard.",
+    "Pull the screen of the sleek laptop design.",
+    "Fully open the the sleek laptop design.",
+    "Lift the laptop featuring textured exterior lid completely.",
+    "Raise the top of the laptop featuring textured exterior",
+    "Open the black laptop with red accents lifting with the right arm",
+    "Pull the sleek laptop design's lid upward.",
+    "Raise the hinged laptop with screen and base using the right arm.",
+    "Pull up the lid of the medium-sized laptop with black body",
+    "Lift the foldable laptop with patterned keyboard's lid upwards.",
+    "Push the medium-sized laptop with black body's lid upward using the right arm.",
+    "Pull the black laptop with red accents upward lightly.",
+    "Open the lightweight laptop completely.",
+    "Raise the laptop with screen and keyboard lid with the right arm.",
+    "Slide the black metallic laptop open with the right arm.",
+    "Use the right arm to open the sleek laptop design",
+    "Use the right arm to raise the sleek laptop design.",
+    "Lift the black metallic laptop's lid using the right arm.",
+    "Lift and open the laptop with red logo underside.",
+    "Raise the compact black laptop lid using the right arm.",
+    "Lift the medium-sized laptop with black body slightly.",
+    "Gently raise the laptop featuring textured exterior using the right arm.",
+    "Raise the medium-sized laptop with black body using the right arm.",
+    "Use the right arm to raise the foldable laptop with patterned keyboard.",
+    "Gently open the medium-sized laptop with black body upward.",
+    "Use the right arm to open the black metallic laptop.",
+    "Raise the lid of the medium-sized laptop with black body.",
+    "Raise the compact black laptop's top section.",
+    "Raise the black metallic laptop to expose the screen",
+    "Open the foldable laptop with patterned keyboard carefully with the right arm.",
+    "Use the right arm to lift the black laptop with red accents",
+    "Gently lift the black laptop using the right arm",
+    "Use the right arm to raise the foldable laptop with patterned keyboard.",
+    "Fully lift the black laptop with red accents using the right arm.",
+    "Raise the sleek laptop design using the right arm firmly."
+  ],
+  "unseen": [
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the right arm",
+    "Grab the portable laptop and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop carefully using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the right arm",
+    "Grab the portable laptop and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop carefully using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the right arm",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop carefully using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop carefully using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the portable laptop using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Grab the portable laptop and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop with care",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the right arm",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop with care",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the portable laptop using the right arm",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop with care",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the portable laptop using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the right arm",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop carefully using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface with care"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode53.json b/open_laptop/demo_clean/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..33d8eef5b8dce32fc3cbc9197cbc94f0fde7303f
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver laptop with foldable parts to open it up",
+    "Gently lift the black screen laptop using the right arm",
+    "Gently raise the silver laptop using the right arm.",
+    "Pull the laptop with wood panel background's lid upward.",
+    "Pull up the lid of the laptop with black textured screen",
+    "Lift the keyboard laptop lid completely.",
+    "Hold the wood surrounded laptop steady, lift lid.",
+    "Push the laptop with black textured screen's lid upward using the right arm.",
+    "Open the laptop with wood panel background lifting with the right arm",
+    "Lift the medium foldable silver laptop slightly.",
+    "Grip and lift the keyboard laptop's lid.",
+    "Use the right arm to open the laptop with black textured screen.",
+    "Slide the keyboard laptop open with the right arm.",
+    "Raise the silver laptop with black keyboard lid using the right arm.",
+    "Use the right arm to open the smooth textured laptop.",
+    "Raise the smooth textured laptop using the right arm firmly.",
+    "Raise the laptop with black textured screen using the right arm.",
+    "Lift the wood surrounded laptop open with the right arm.",
+    "Raise the medium foldable silver laptop using the right arm.",
+    "Raise the black screen laptop to expose the screen",
+    "Use the right arm to raise the laptop with wood panel background.",
+    "Pull open the silver laptop with foldable parts",
+    "With the right arm, open the medium foldable silver laptop's lid.",
+    "Open the silver laptop with black keyboard by lifting its lid.",
+    "Use the right arm to raise the silver laptop with foldable parts.",
+    "Open the silver laptop with black keyboard completely.",
+    "Fully lift the silver laptop using the right arm.",
+    "Open the silver laptop entirely.",
+    "Pull the screen of the silver laptop with black keyboard.",
+    "Raise and open the medium foldable silver laptop.",
+    "Open the keyboard laptop carefully with the right arm.",
+    "Lift and open the wood surrounded laptop.",
+    "Use the right arm to lift the medium foldable silver laptop",
+    "Raise the wood surrounded laptop lid with the right arm.",
+    "Lift the laptop with black textured screen to open.",
+    "Carefully open the keyboard laptop using the right arm",
+    "Pull the laptop with wood panel background upward lightly.",
+    "Pull the lid of the silver laptop with foldable parts upward.",
+    "Use the right arm to open the silver laptop with foldable parts.",
+    "Raise the top of the silver laptop with foldable parts",
+    "Lift the silver laptop with foldable parts's lid using the right arm.",
+    "Gently open the black screen laptop upward.",
+    "Use the right arm to open the metal laptop",
+    "Raise the smooth textured laptop's top section.",
+    "Use the right arm to raise the silver laptop with foldable parts.",
+    "Lift the keyboard laptop's lid upwards.",
+    "Gently open the keyboard laptop.",
+    "Raise the lid of the black and silver laptop.",
+    "Pull the laptop with wood panel background open with the right arm.",
+    "Fully open the the black screen laptop.",
+    "Lift the silver laptop with black keyboard to open it up",
+    "Gently lift the laptop with black textured screen using the right arm",
+    "Gently raise the laptop with wood panel background using the right arm.",
+    "Pull the laptop with black textured screen's lid upward.",
+    "Pull up the lid of the medium foldable silver laptop",
+    "Lift the wood surrounded laptop lid completely.",
+    "Hold the black screen laptop steady, lift lid.",
+    "Push the medium foldable silver laptop's lid upward using the right arm.",
+    "Open the black and silver laptop lifting with the right arm",
+    "Lift the silver laptop slightly.",
+    "Grip and lift the black screen laptop's lid.",
+    "Use the right arm to open the laptop with black textured screen.",
+    "Slide the smooth textured laptop open with the right arm.",
+    "Raise the medium foldable silver laptop lid using the right arm.",
+    "Use the right arm to open the silver laptop with foldable parts.",
+    "Raise the black and silver laptop using the right arm firmly.",
+    "Raise the medium foldable silver laptop using the right arm.",
+    "Lift the medium foldable silver laptop open with the right arm.",
+    "Raise the wood surrounded laptop using the right arm.",
+    "Raise the silver laptop with black keyboard to expose the screen",
+    "Use the right arm to raise the wood surrounded laptop.",
+    "Pull open the silver laptop with black keyboard",
+    "With the right arm, open the wood surrounded laptop's lid.",
+    "Open the laptop with wood panel background by lifting its lid.",
+    "Use the right arm to raise the smooth textured laptop.",
+    "Open the silver laptop completely.",
+    "Fully lift the metal laptop using the right arm.",
+    "Open the smooth textured laptop entirely.",
+    "Pull the screen of the silver laptop.",
+    "Raise and open the metal laptop.",
+    "Open the laptop with wood panel background carefully with the right arm.",
+    "Lift and open the keyboard laptop.",
+    "Use the right arm to lift the laptop with black textured screen",
+    "Raise the black and silver laptop lid with the right arm.",
+    "Lift the laptop with black textured screen to open.",
+    "Carefully open the keyboard laptop using the right arm",
+    "Pull the silver laptop upward lightly.",
+    "Pull the lid of the black screen laptop upward.",
+    "Use the right arm to open the smooth textured laptop.",
+    "Raise the top of the black screen laptop",
+    "Lift the black and silver laptop's lid using the right arm.",
+    "Gently open the keyboard laptop upward.",
+    "Use the right arm to open the metal laptop",
+    "Raise the metal laptop's top section.",
+    "Use the right arm to raise the silver laptop with black keyboard.",
+    "Lift the silver laptop's lid upwards.",
+    "Gently open the laptop with wood panel background.",
+    "Raise the lid of the smooth textured laptop.",
+    "Pull the black and silver laptop open with the right arm.",
+    "Fully open the the keyboard laptop."
+  ],
+  "unseen": [
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the laptop with glossy black display's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode54.json b/open_laptop/demo_clean/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..00f324fd4461c06a5672ef1175699577f32bd2af
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the slim laptop to expose the screen",
+    "Lift the metal laptop with black keys to open it up",
+    "Open the metal laptop with black keys by lifting its lid.",
+    "Raise the laptop with metallic finish using the right arm.",
+    "Gently open the silver laptop with dark keys.",
+    "Raise the rectangular laptop with screen's top section.",
+    "Use the right arm to open the laptop with smooth surface.",
+    "Carefully open the laptop with smooth surface using the right arm",
+    "Lift the compact silver laptop lid completely.",
+    "Lift the laptop with foldable screen design open with the right arm.",
+    "Use the right arm to raise the portable slim laptop.",
+    "Fully lift the metal laptop with black keys using the right arm.",
+    "Open the laptop with metallic finish carefully with the right arm.",
+    "Raise the lid of the laptop with foldable screen design.",
+    "Hold the metal laptop with black keys steady, lift lid.",
+    "Fully open the the portable slim laptop.",
+    "Raise the top of the medium-sized silver laptop",
+    "Use the right arm to lift the laptop with black keyboard",
+    "Lift the laptop with foldable screen design slightly.",
+    "Pull the medium-sized silver laptop open with the right arm.",
+    "With the right arm, open the metal laptop with black keys's lid.",
+    "Raise and open the rectangular laptop with screen.",
+    "Lift the portable slim laptop to open.",
+    "Use the right arm to open the metal laptop with black keys.",
+    "Open the metal laptop with black keys entirely.",
+    "Grip and lift the laptop with foldable screen design's lid.",
+    "Use the right arm to open the metal laptop with black keys",
+    "Raise the medium-sized silver laptop lid using the right arm.",
+    "Use the right arm to raise the portable slim laptop.",
+    "Raise the laptop with smooth surface lid with the right arm.",
+    "Raise the laptop with foldable screen design using the right arm firmly.",
+    "Use the right arm to raise the metal laptop with black keys.",
+    "Open the compact silver laptop lifting with the right arm",
+    "Gently raise the lightweight silver laptop using the right arm.",
+    "Pull up the lid of the portable slim laptop",
+    "Pull the laptop with smooth surface's lid upward.",
+    "Gently lift the silver laptop with dark keys using the right arm",
+    "Push the laptop with foldable screen design's lid upward using the right arm.",
+    "Gently open the rectangular laptop with screen upward.",
+    "Slide the metal laptop with black keys open with the right arm.",
+    "Use the right arm to open the medium-sized silver laptop.",
+    "Pull the lid of the silver laptop with dark keys upward.",
+    "Lift and open the medium-sized silver laptop.",
+    "Open the medium-sized silver laptop completely.",
+    "Lift the portable slim laptop's lid upwards.",
+    "Raise the laptop with smooth surface using the right arm.",
+    "Pull the screen of the laptop with metallic finish.",
+    "Pull the laptop with black keyboard upward lightly.",
+    "Lift the silver laptop with dark keys's lid using the right arm.",
+    "Pull open the laptop with smooth surface",
+    "Raise the medium-sized silver laptop to expose the screen",
+    "Lift the laptop with smooth surface to open it up",
+    "Open the slim laptop by lifting its lid.",
+    "Raise the metal laptop with black keys using the right arm.",
+    "Gently open the laptop with smooth surface.",
+    "Raise the lightweight silver laptop's top section.",
+    "Use the right arm to open the metal laptop with black keys.",
+    "Carefully open the compact silver laptop using the right arm",
+    "Lift the portable slim laptop lid completely.",
+    "Lift the laptop with foldable screen design open with the right arm.",
+    "Use the right arm to raise the silver laptop with dark keys.",
+    "Fully lift the metal laptop with black keys using the right arm.",
+    "Open the laptop with metallic finish carefully with the right arm.",
+    "Raise the lid of the portable slim laptop.",
+    "Hold the lightweight silver laptop steady, lift lid.",
+    "Fully open the the portable slim laptop.",
+    "Raise the top of the portable slim laptop",
+    "Use the right arm to lift the compact silver laptop",
+    "Lift the silver laptop with dark keys slightly.",
+    "Pull the laptop with metallic finish open with the right arm.",
+    "With the right arm, open the slim laptop's lid.",
+    "Raise and open the laptop with metallic finish.",
+    "Lift the compact silver laptop to open.",
+    "Use the right arm to open the silver laptop with dark keys.",
+    "Open the laptop with black keyboard entirely.",
+    "Grip and lift the compact silver laptop's lid.",
+    "Use the right arm to open the laptop with foldable screen design",
+    "Raise the laptop with smooth surface lid using the right arm.",
+    "Use the right arm to raise the laptop with metallic finish.",
+    "Raise the metal laptop with black keys lid with the right arm.",
+    "Raise the lightweight silver laptop using the right arm firmly.",
+    "Use the right arm to raise the laptop with smooth surface.",
+    "Open the laptop with metallic finish lifting with the right arm",
+    "Gently raise the slim laptop using the right arm.",
+    "Pull up the lid of the rectangular laptop with screen",
+    "Pull the rectangular laptop with screen's lid upward.",
+    "Gently lift the lightweight silver laptop using the right arm",
+    "Push the laptop with metallic finish's lid upward using the right arm.",
+    "Gently open the compact silver laptop upward.",
+    "Slide the portable slim laptop open with the right arm.",
+    "Use the right arm to open the silver laptop with dark keys.",
+    "Pull the lid of the laptop with smooth surface upward.",
+    "Lift and open the metal laptop with black keys.",
+    "Open the laptop with metallic finish completely.",
+    "Lift the metal laptop with black keys's lid upwards.",
+    "Raise the laptop with black keyboard using the right arm.",
+    "Pull the screen of the laptop with smooth surface.",
+    "Pull the silver laptop with dark keys upward lightly.",
+    "Lift the silver laptop with dark keys's lid using the right arm.",
+    "Pull open the laptop with smooth surface"
+  ],
+  "unseen": [
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop using the right arm",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the silver laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Open the silver laptop carefully using the right arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop using the right arm",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop with care",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Open the silver laptop carefully using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the silver laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Open the silver laptop carefully using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the silver laptop carefully using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the silver laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the silver laptop carefully using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Open the silver laptop carefully using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Open the silver laptop carefully using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode55.json b/open_laptop/demo_clean/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e0cd1a60696af23c015bd81760a3e3ae0466ced
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the silver laptop with black keyboard to expose the screen",
+    "Raise the top of the medium foldable silver laptop",
+    "Gently open the black screen laptop.",
+    "Open the keyboard laptop carefully with the left arm.",
+    "Raise the medium foldable silver laptop lid with the left arm.",
+    "Raise the silver laptop using the left arm.",
+    "Use the left arm to open the metal laptop.",
+    "Lift and open the silver laptop with foldable parts.",
+    "Open the keyboard laptop by lifting its lid.",
+    "Fully open the the medium foldable silver laptop.",
+    "Use the left arm to open the silver laptop.",
+    "Use the left arm to open the metal laptop",
+    "Pull the silver laptop with foldable parts upward lightly.",
+    "Fully lift the black and silver laptop using the left arm.",
+    "Carefully open the black screen laptop using the left arm",
+    "Use the left arm to open the keyboard laptop.",
+    "Raise and open the metal laptop.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Lift the silver laptop with foldable parts's lid using the left arm.",
+    "Use the left arm to lift the wood surrounded laptop",
+    "Open the silver laptop with black keyboard completely.",
+    "Push the silver laptop's lid upward using the left arm.",
+    "Gently raise the metal laptop using the left arm.",
+    "Gently lift the wood surrounded laptop using the left arm",
+    "Lift the wood surrounded laptop's lid upwards.",
+    "With the left arm, open the silver laptop with foldable parts's lid.",
+    "Pull the wood surrounded laptop's lid upward.",
+    "Use the left arm to raise the silver laptop with foldable parts.",
+    "Gently open the black screen laptop upward.",
+    "Raise the black and silver laptop's top section.",
+    "Slide the silver laptop with black keyboard open with the left arm.",
+    "Lift the keyboard laptop to open it up",
+    "Raise the medium foldable silver laptop lid using the left arm.",
+    "Lift the smooth textured laptop slightly.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Raise the laptop with black textured screen using the left arm firmly.",
+    "Use the left arm to raise the medium foldable silver laptop.",
+    "Pull the black screen laptop open with the left arm.",
+    "Lift the wood surrounded laptop lid completely.",
+    "Pull up the lid of the wood surrounded laptop",
+    "Hold the metal laptop steady, lift lid.",
+    "Pull open the medium foldable silver laptop",
+    "Open the keyboard laptop lifting with the left arm",
+    "Pull the lid of the black and silver laptop upward.",
+    "Pull the screen of the smooth textured laptop.",
+    "Open the black screen laptop entirely.",
+    "Lift the metal laptop open with the left arm.",
+    "Grip and lift the silver laptop's lid.",
+    "Lift the smooth textured laptop to open.",
+    "Raise the lid of the medium foldable silver laptop.",
+    "Raise the laptop with wood panel background to expose the screen",
+    "Raise the top of the black and silver laptop",
+    "Gently open the silver laptop with foldable parts.",
+    "Open the silver laptop with foldable parts carefully with the left arm.",
+    "Raise the keyboard laptop lid with the left arm.",
+    "Raise the black screen laptop using the left arm.",
+    "Use the left arm to open the keyboard laptop.",
+    "Lift and open the silver laptop.",
+    "Open the keyboard laptop by lifting its lid.",
+    "Fully open the the black screen laptop.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Use the left arm to open the metal laptop",
+    "Pull the silver laptop upward lightly.",
+    "Fully lift the laptop with wood panel background using the left arm.",
+    "Carefully open the laptop with black textured screen using the left arm",
+    "Use the left arm to open the silver laptop with foldable parts.",
+    "Raise and open the keyboard laptop.",
+    "Raise the silver laptop with foldable parts using the left arm.",
+    "Lift the silver laptop's lid using the left arm.",
+    "Use the left arm to lift the laptop with black textured screen",
+    "Open the smooth textured laptop completely.",
+    "Push the silver laptop's lid upward using the left arm.",
+    "Gently raise the wood surrounded laptop using the left arm.",
+    "Gently lift the laptop with black textured screen using the left arm",
+    "Lift the silver laptop with black keyboard's lid upwards.",
+    "With the left arm, open the medium foldable silver laptop's lid.",
+    "Pull the keyboard laptop's lid upward.",
+    "Use the left arm to raise the black screen laptop.",
+    "Gently open the laptop with black textured screen upward.",
+    "Raise the wood surrounded laptop's top section.",
+    "Slide the black and silver laptop open with the left arm.",
+    "Lift the silver laptop with black keyboard to open it up",
+    "Raise the silver laptop with black keyboard lid using the left arm.",
+    "Lift the laptop with black textured screen slightly.",
+    "Use the left arm to raise the silver laptop.",
+    "Raise the smooth textured laptop using the left arm firmly.",
+    "Use the left arm to raise the black screen laptop.",
+    "Pull the black screen laptop open with the left arm.",
+    "Lift the keyboard laptop lid completely.",
+    "Pull up the lid of the silver laptop",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Pull open the black and silver laptop",
+    "Open the laptop with wood panel background lifting with the left arm",
+    "Pull the lid of the medium foldable silver laptop upward.",
+    "Pull the screen of the medium foldable silver laptop.",
+    "Open the keyboard laptop entirely.",
+    "Lift the silver laptop with black keyboard open with the left arm.",
+    "Grip and lift the metal laptop's lid.",
+    "Lift the wood surrounded laptop to open.",
+    "Raise the lid of the black and silver laptop."
+  ],
+  "unseen": [
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the laptop with glossy black display using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode56.json b/open_laptop/demo_clean/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fb7dbbdb6dc9951b96c061678e5092f0d63015b
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently lift the laptop with flat black keyboard using the right arm",
+    "Lift the portable black laptop with textured casing to open.",
+    "Raise the laptop featuring black base and hinged screen lid using the right arm.",
+    "Lift the laptop for typing and computing's lid upwards.",
+    "Open the laptop featuring black base and hinged screen by lifting its lid.",
+    "Hold the laptop with flat black keyboard steady, lift lid.",
+    "Open the smooth laptop with Windows logo underneath lifting with the right arm",
+    "Lift the smooth laptop with Windows logo underneath to open it up",
+    "Raise the laptop for typing and computing lid with the right arm.",
+    "Carefully open the laptop with flat black keyboard using the right arm",
+    "Use the right arm to open the black laptop with metallic edges.",
+    "Gently open the laptop with glossy screen.",
+    "Lift the black laptop with visible hinge's lid using the right arm.",
+    "Raise the laptop for typing and computing using the right arm.",
+    "Raise the medium-sized black portable laptop using the right arm.",
+    "Raise the laptop featuring black base and hinged screen using the right arm firmly.",
+    "Gently raise the laptop with flat black keyboard using the right arm.",
+    "Pull the black laptop with shiny display panel upward lightly.",
+    "Pull the laptop featuring black base and hinged screen open with the right arm.",
+    "Lift the portable black laptop with textured casing open with the right arm.",
+    "Use the right arm to open the laptop for typing and computing.",
+    "Open the black laptop with Saturn image on screen completely.",
+    "Grip and lift the black laptop with shiny display panel's lid.",
+    "Use the right arm to raise the laptop with flat black keyboard.",
+    "Lift the laptop with flat black keyboard slightly.",
+    "Lift and open the laptop featuring black base and hinged screen.",
+    "Open the black laptop with visible hinge entirely.",
+    "Use the right arm to open the black laptop.",
+    "Use the right arm to open the smooth laptop with Windows logo underneath",
+    "Slide the laptop with flat black keyboard open with the right arm.",
+    "Gently open the black laptop with visible hinge upward.",
+    "Raise the laptop with flat black keyboard to expose the screen",
+    "Push the black laptop's lid upward using the right arm.",
+    "Pull up the lid of the laptop with flat black keyboard",
+    "Use the right arm to lift the smooth laptop with Windows logo underneath",
+    "With the right arm, open the laptop with flat black keyboard's lid.",
+    "Raise the smooth laptop with Windows logo underneath's top section.",
+    "Pull the black laptop with Saturn image on screen's lid upward.",
+    "Pull the screen of the black laptop with metallic edges.",
+    "Use the right arm to raise the laptop for typing and computing.",
+    "Raise the lid of the portable black laptop with textured casing.",
+    "Raise the top of the laptop with glossy screen",
+    "Pull the lid of the smooth laptop with Windows logo underneath upward.",
+    "Fully lift the medium-sized black portable laptop using the right arm.",
+    "Use the right arm to raise the portable black laptop with textured casing.",
+    "Open the black laptop with visible hinge carefully with the right arm.",
+    "Fully open the the black laptop with metallic edges.",
+    "Raise and open the black laptop with Saturn image on screen.",
+    "Lift the portable black laptop with textured casing lid completely.",
+    "Pull open the medium-sized black portable laptop",
+    "Gently lift the smooth laptop with Windows logo underneath using the right arm",
+    "Lift the portable black laptop with textured casing to open.",
+    "Raise the black laptop with Saturn image on screen lid using the right arm.",
+    "Lift the black laptop's lid upwards.",
+    "Open the black laptop with visible hinge by lifting its lid.",
+    "Hold the laptop with flat black keyboard steady, lift lid.",
+    "Open the black laptop lifting with the right arm",
+    "Lift the black laptop to open it up",
+    "Raise the laptop featuring black base and hinged screen lid with the right arm.",
+    "Carefully open the laptop with glossy screen using the right arm",
+    "Use the right arm to open the laptop with glossy screen.",
+    "Gently open the black laptop with shiny display panel.",
+    "Lift the laptop with glossy screen's lid using the right arm.",
+    "Raise the medium-sized black portable laptop using the right arm.",
+    "Raise the laptop with flat black keyboard using the right arm.",
+    "Raise the laptop for typing and computing using the right arm firmly.",
+    "Gently raise the laptop with glossy screen using the right arm.",
+    "Pull the laptop with flat black keyboard upward lightly.",
+    "Pull the black laptop with visible hinge open with the right arm.",
+    "Lift the smooth laptop with Windows logo underneath open with the right arm.",
+    "Use the right arm to open the medium-sized black portable laptop.",
+    "Open the black laptop with metallic edges completely.",
+    "Grip and lift the laptop with glossy screen's lid.",
+    "Use the right arm to raise the smooth laptop with Windows logo underneath.",
+    "Lift the black laptop with metallic edges slightly.",
+    "Lift and open the laptop with glossy screen.",
+    "Open the portable black laptop with textured casing entirely.",
+    "Use the right arm to open the portable black laptop with textured casing.",
+    "Use the right arm to open the black laptop",
+    "Slide the laptop with glossy screen open with the right arm.",
+    "Gently open the laptop featuring black base and hinged screen upward.",
+    "Raise the black laptop with visible hinge to expose the screen",
+    "Push the black laptop with visible hinge's lid upward using the right arm.",
+    "Pull up the lid of the black laptop with shiny display panel",
+    "Use the right arm to lift the black laptop",
+    "With the right arm, open the smooth laptop with Windows logo underneath's lid.",
+    "Raise the black laptop with shiny display panel's top section.",
+    "Pull the medium-sized black portable laptop's lid upward.",
+    "Pull the screen of the laptop with glossy screen.",
+    "Use the right arm to raise the laptop for typing and computing.",
+    "Raise the lid of the laptop with flat black keyboard.",
+    "Raise the top of the smooth laptop with Windows logo underneath",
+    "Pull the lid of the laptop with flat black keyboard upward.",
+    "Fully lift the portable black laptop with textured casing using the right arm.",
+    "Use the right arm to raise the laptop with glossy screen.",
+    "Open the laptop featuring black base and hinged screen carefully with the right arm.",
+    "Fully open the the black laptop with shiny display panel.",
+    "Raise and open the medium-sized black portable laptop.",
+    "Lift the portable black laptop with textured casing lid completely.",
+    "Pull open the black laptop with visible hinge"
+  ],
+  "unseen": [
+    "Lift the thin rectangular laptop's lid fully.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Grab the laptop with colorful screen and open it.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Grab the thin rectangular laptop and open it.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Grab the laptop with colorful screen and open it.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Open the thin rectangular laptop with care",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Grab the laptop with colorful screen and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Grab the laptop with colorful screen and open it.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Open the thin rectangular laptop with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Open the thin rectangular laptop with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Grab the thin rectangular laptop and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Open the thin rectangular laptop with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Lift the thin rectangular laptop's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode57.json b/open_laptop/demo_clean/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..eed1f2c707915fdb16eabd5d2312bab0f0ff2df7
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to raise the medium-sized laptop.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Pull open the portable folding laptop",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Raise the matte laptop with smooth screen lid with the right arm.",
+    "Push the portable folding laptop's lid upward using the right arm.",
+    "Raise and open the folding laptop with screen and keyboard.",
+    "Raise the portable folding laptop using the right arm.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Hold the medium-sized laptop steady, lift lid.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Fully open the the laptop with silver keyboard.",
+    "Use the right arm to open the portable folding laptop.",
+    "Lift the black laptop with reflective screen's lid upwards.",
+    "Lift the medium-sized laptop slightly.",
+    "Open the portable folding laptop lifting with the right arm",
+    "Lift the black laptop with reflective screen lid completely.",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Slide the device with flat keyboard and screen open with the right arm.",
+    "Gently raise the portable folding laptop using the right arm.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm firmly.",
+    "Raise the lid of the portable folding laptop.",
+    "Raise the folding laptop with screen and keyboard's top section.",
+    "Use the right arm to open the medium-sized laptop",
+    "Pull the screen of the Toshiba laptop with folding design.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Open the portable folding laptop entirely.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Lift the rectangular laptop with Toshiba logo to open it up",
+    "Pull the rectangular laptop with Toshiba logo upward lightly.",
+    "Raise the black laptop with reflective screen to expose the screen",
+    "Lift and open the black and silver laptop.",
+    "Gently open the rectangular laptop with Toshiba logo upward.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Open the rectangular laptop with Toshiba logo carefully with the right arm.",
+    "Pull up the lid of the black laptop with reflective screen",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Lift the laptop with silver keyboard to open.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Use the right arm to lift the matte laptop with smooth screen",
+    "With the right arm, open the matte laptop with smooth screen's lid.",
+    "Fully lift the black laptop with reflective screen using the right arm.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Gently open the device with flat keyboard and screen.",
+    "Lift the medium-sized laptop open with the right arm.",
+    "Pull the black and silver laptop open with the right arm.",
+    "Raise the laptop with silver keyboard lid using the right arm.",
+    "Grip and lift the folding laptop with screen and keyboard's lid.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Pull open the silver keyboard laptop",
+    "Gently lift the compact black and silver computer using the right arm",
+    "Raise the black and silver laptop lid with the right arm.",
+    "Push the compact black and silver computer's lid upward using the right arm.",
+    "Raise and open the device with flat keyboard and screen.",
+    "Raise the matte laptop with smooth screen using the right arm.",
+    "Pull the black and silver laptop's lid upward.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Fully open the the silver keyboard laptop.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Open the portable folding laptop lifting with the right arm",
+    "Lift the medium-sized laptop lid completely.",
+    "Carefully open the device with flat keyboard and screen using the right arm",
+    "Slide the laptop with silver keyboard open with the right arm.",
+    "Gently raise the folding laptop with screen and keyboard using the right arm.",
+    "Raise the portable folding laptop using the right arm firmly.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Raise the device with flat keyboard and screen's top section.",
+    "Use the right arm to open the Toshiba laptop with folding design",
+    "Pull the screen of the black and silver laptop.",
+    "Open the medium-sized laptop completely.",
+    "Open the silver keyboard laptop entirely.",
+    "Raise the top of the compact black and silver computer",
+    "Lift the portable folding laptop to open it up",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Raise the Toshiba laptop with folding design to expose the screen",
+    "Lift and open the compact black and silver computer.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Open the device with flat keyboard and screen carefully with the right arm.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Open the Toshiba laptop with folding design by lifting its lid.",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Raise the portable folding laptop using the right arm.",
+    "Use the right arm to lift the silver keyboard laptop",
+    "With the right arm, open the laptop with silver keyboard's lid.",
+    "Fully lift the black and silver laptop using the right arm.",
+    "Use the right arm to open the portable folding laptop.",
+    "Gently open the black laptop with reflective screen.",
+    "Lift the medium-sized laptop open with the right arm.",
+    "Pull the black laptop with reflective screen open with the right arm.",
+    "Raise the black and silver laptop lid using the right arm.",
+    "Grip and lift the Toshiba laptop with folding design's lid."
+  ],
+  "unseen": [
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode58.json b/open_laptop/demo_clean/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c2d860e97a01b4ee3cee1e35982d2cb95dca76d
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the medium-sized silver laptop open with the left arm.",
+    "Raise the lightweight silver laptop's top section.",
+    "Lift and open the laptop with smooth surface.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Slide the metal laptop with black keys open with the left arm.",
+    "Raise the top of the rectangular laptop with screen",
+    "Carefully open the slim laptop using the left arm",
+    "Raise and open the medium-sized silver laptop.",
+    "Pull open the laptop with metallic finish",
+    "Lift the laptop with foldable screen design's lid upwards.",
+    "Raise the laptop with metallic finish lid using the left arm.",
+    "Open the medium-sized silver laptop by lifting its lid.",
+    "Use the left arm to open the laptop with black keyboard.",
+    "Gently lift the medium-sized silver laptop using the left arm",
+    "Raise the laptop with metallic finish lid with the left arm.",
+    "Lift the silver laptop with dark keys's lid using the left arm.",
+    "Pull the laptop with black keyboard upward lightly.",
+    "Lift the lightweight silver laptop to open.",
+    "Use the left arm to lift the lightweight silver laptop",
+    "Pull up the lid of the compact silver laptop",
+    "Raise the laptop with metallic finish using the left arm.",
+    "Lift the medium-sized silver laptop open with the left arm.",
+    "Hold the lightweight silver laptop steady, lift lid.",
+    "Use the left arm to raise the medium-sized silver laptop.",
+    "Raise the slim laptop to expose the screen",
+    "Lift the lightweight silver laptop lid completely.",
+    "Open the silver laptop with dark keys entirely.",
+    "Lift the compact silver laptop to open it up",
+    "Use the left arm to raise the laptop with smooth surface.",
+    "With the left arm, open the rectangular laptop with screen's lid.",
+    "Lift the rectangular laptop with screen slightly.",
+    "Pull the lid of the laptop with smooth surface upward.",
+    "Open the rectangular laptop with screen carefully with the left arm.",
+    "Grip and lift the medium-sized silver laptop's lid.",
+    "Raise the laptop with foldable screen design using the left arm firmly.",
+    "Open the laptop with metallic finish completely.",
+    "Raise the laptop with metallic finish using the left arm.",
+    "Pull the screen of the laptop with smooth surface.",
+    "Fully open the the laptop with foldable screen design.",
+    "Gently open the laptop with foldable screen design upward.",
+    "Gently open the metal laptop with black keys.",
+    "Fully lift the medium-sized silver laptop using the left arm.",
+    "Raise the lid of the medium-sized silver laptop.",
+    "Open the compact silver laptop lifting with the left arm",
+    "Use the left arm to open the laptop with smooth surface",
+    "Use the left arm to raise the lightweight silver laptop.",
+    "Gently raise the slim laptop using the left arm.",
+    "Use the left arm to open the compact silver laptop.",
+    "Push the metal laptop with black keys's lid upward using the left arm.",
+    "Pull the silver laptop with dark keys's lid upward.",
+    "Pull the laptop with smooth surface open with the left arm.",
+    "Raise the slim laptop's top section.",
+    "Lift and open the laptop with foldable screen design.",
+    "Use the left arm to open the laptop with foldable screen design.",
+    "Slide the laptop with foldable screen design open with the left arm.",
+    "Raise the top of the lightweight silver laptop",
+    "Carefully open the compact silver laptop using the left arm",
+    "Raise and open the laptop with smooth surface.",
+    "Pull open the lightweight silver laptop",
+    "Lift the metal laptop with black keys's lid upwards.",
+    "Raise the metal laptop with black keys lid using the left arm.",
+    "Open the portable slim laptop by lifting its lid.",
+    "Use the left arm to open the lightweight silver laptop.",
+    "Gently lift the slim laptop using the left arm",
+    "Raise the portable slim laptop lid with the left arm.",
+    "Lift the laptop with black keyboard's lid using the left arm.",
+    "Pull the laptop with foldable screen design upward lightly.",
+    "Lift the rectangular laptop with screen to open.",
+    "Use the left arm to lift the medium-sized silver laptop",
+    "Pull up the lid of the medium-sized silver laptop",
+    "Raise the silver laptop with dark keys using the left arm.",
+    "Lift the medium-sized silver laptop open with the left arm.",
+    "Hold the silver laptop with dark keys steady, lift lid.",
+    "Use the left arm to raise the laptop with smooth surface.",
+    "Raise the silver laptop with dark keys to expose the screen",
+    "Lift the laptop with foldable screen design lid completely.",
+    "Open the laptop with black keyboard entirely.",
+    "Lift the laptop with foldable screen design to open it up",
+    "Use the left arm to raise the laptop with black keyboard.",
+    "With the left arm, open the compact silver laptop's lid.",
+    "Lift the laptop with black keyboard slightly.",
+    "Pull the lid of the laptop with smooth surface upward.",
+    "Open the silver laptop with dark keys carefully with the left arm.",
+    "Grip and lift the laptop with foldable screen design's lid.",
+    "Raise the laptop with black keyboard using the left arm firmly.",
+    "Open the lightweight silver laptop completely.",
+    "Raise the laptop with metallic finish using the left arm.",
+    "Pull the screen of the laptop with smooth surface.",
+    "Fully open the the lightweight silver laptop.",
+    "Gently open the portable slim laptop upward.",
+    "Gently open the laptop with black keyboard.",
+    "Fully lift the laptop with black keyboard using the left arm.",
+    "Raise the lid of the laptop with black keyboard.",
+    "Open the lightweight silver laptop lifting with the left arm",
+    "Use the left arm to open the portable slim laptop",
+    "Use the left arm to raise the silver laptop with dark keys.",
+    "Gently raise the silver laptop with dark keys using the left arm.",
+    "Use the left arm to open the silver laptop with dark keys.",
+    "Push the medium-sized silver laptop's lid upward using the left arm.",
+    "Pull the laptop with black keyboard's lid upward."
+  ],
+  "unseen": [
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Open the foldable laptop with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Grab the silver laptop and open it.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Open the silver laptop with one motion.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the foldable laptop with one motion.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Open the silver laptop with one motion.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the silver laptop using the left arm",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the silver laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the silver laptop and open it.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode59.json b/open_laptop/demo_clean/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9a765e4f018fb518500318cd0880a626cb722af
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently open the laptop with silver keyboard upward.",
+    "Lift the portable folding laptop to open.",
+    "Raise the Toshiba laptop with folding design using the left arm.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Carefully open the folding laptop with screen and keyboard using the left arm",
+    "Raise the device with flat keyboard and screen using the left arm firmly.",
+    "Open the medium-sized laptop by lifting its lid.",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Raise the lid of the laptop with silver keyboard.",
+    "Raise the folding laptop with screen and keyboard lid with the left arm.",
+    "Push the rectangular laptop with Toshiba logo's lid upward using the left arm.",
+    "Pull the laptop with silver keyboard open with the left arm.",
+    "Lift and open the silver keyboard laptop.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Open the portable folding laptop carefully with the left arm.",
+    "Use the left arm to raise the matte laptop with smooth screen.",
+    "Lift the silver keyboard laptop's lid using the left arm.",
+    "Fully open the the device with flat keyboard and screen.",
+    "Lift the matte laptop with smooth screen's lid upwards.",
+    "Slide the portable folding laptop open with the left arm.",
+    "Raise the compact black and silver computer lid using the left arm.",
+    "Raise the black and silver laptop's top section.",
+    "Gently open the laptop with silver keyboard.",
+    "Pull the screen of the portable folding laptop.",
+    "Raise the silver keyboard laptop to expose the screen",
+    "Lift the medium-sized laptop to open it up",
+    "Lift the black laptop with reflective screen open with the left arm.",
+    "Gently lift the black and silver laptop using the left arm",
+    "Raise the top of the device with flat keyboard and screen",
+    "Raise and open the silver keyboard laptop.",
+    "Fully lift the compact black and silver computer using the left arm.",
+    "Open the silver keyboard laptop entirely.",
+    "Pull the device with flat keyboard and screen's lid upward.",
+    "Gently raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Use the left arm to open the folding laptop with screen and keyboard",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Open the matte laptop with smooth screen lifting with the left arm",
+    "Raise the portable folding laptop using the left arm.",
+    "Use the left arm to open the matte laptop with smooth screen.",
+    "Hold the device with flat keyboard and screen steady, lift lid.",
+    "Use the left arm to raise the silver keyboard laptop.",
+    "Pull the rectangular laptop with Toshiba logo upward lightly.",
+    "With the left arm, open the rectangular laptop with Toshiba logo's lid.",
+    "Use the left arm to lift the black and silver laptop",
+    "Grip and lift the black and silver laptop's lid.",
+    "Use the left arm to open the Toshiba laptop with folding design.",
+    "Use the left arm to raise the compact black and silver computer.",
+    "Pull open the folding laptop with screen and keyboard",
+    "Use the left arm to open the device with flat keyboard and screen.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Raise the matte laptop with smooth screen using the left arm.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "Carefully open the silver keyboard laptop using the left arm",
+    "Raise the compact black and silver computer using the left arm firmly.",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Lift the laptop with silver keyboard slightly.",
+    "Raise the lid of the laptop with silver keyboard.",
+    "Raise the matte laptop with smooth screen lid with the left arm.",
+    "Push the folding laptop with screen and keyboard's lid upward using the left arm.",
+    "Pull the compact black and silver computer open with the left arm.",
+    "Lift and open the medium-sized laptop.",
+    "Open the laptop with silver keyboard completely.",
+    "Open the folding laptop with screen and keyboard carefully with the left arm.",
+    "Use the left arm to raise the silver keyboard laptop.",
+    "Lift the portable folding laptop's lid using the left arm.",
+    "Fully open the the silver keyboard laptop.",
+    "Lift the matte laptop with smooth screen's lid upwards.",
+    "Slide the Toshiba laptop with folding design open with the left arm.",
+    "Raise the folding laptop with screen and keyboard lid using the left arm.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Gently open the silver keyboard laptop.",
+    "Pull the screen of the rectangular laptop with Toshiba logo.",
+    "Raise the portable folding laptop to expose the screen",
+    "Lift the compact black and silver computer to open it up",
+    "Lift the compact black and silver computer open with the left arm.",
+    "Gently lift the folding laptop with screen and keyboard using the left arm",
+    "Raise the top of the black and silver laptop",
+    "Raise and open the compact black and silver computer.",
+    "Fully lift the black laptop with reflective screen using the left arm.",
+    "Open the black laptop with reflective screen entirely.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Gently raise the compact black and silver computer using the left arm.",
+    "Use the left arm to open the silver keyboard laptop",
+    "Lift the black and silver laptop lid completely.",
+    "Open the rectangular laptop with Toshiba logo lifting with the left arm",
+    "Raise the black and silver laptop using the left arm.",
+    "Use the left arm to open the portable folding laptop.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Pull the device with flat keyboard and screen upward lightly.",
+    "With the left arm, open the compact black and silver computer's lid.",
+    "Use the left arm to lift the matte laptop with smooth screen",
+    "Grip and lift the silver keyboard laptop's lid.",
+    "Use the left arm to open the black and silver laptop.",
+    "Use the left arm to raise the matte laptop with smooth screen.",
+    "Pull open the device with flat keyboard and screen",
+    "Use the left arm to open the device with flat keyboard and screen."
+  ],
+  "unseen": [
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the left arm",
+    "Open the computer with black screen with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the left arm",
+    "Open the computer with black screen with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the left arm",
+    "Open the computer with black screen with care",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer with care",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer with care",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen with care",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer with care",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen using the left arm",
+    "Open the computer with black screen with care",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode6.json b/open_laptop/demo_clean/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb044b1f267de9bfb42d815286a8838631f23761
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the laptop for browsing and computing by lifting its lid.",
+    "Pull open the blue-black laptop",
+    "Use the left arm to open the laptop for browsing and computing.",
+    "Raise and open the blue-black laptop.",
+    "Pull the screen of the portable laptop.",
+    "Slide the compact black laptop open with the left arm.",
+    "Pull the blue-black laptop upward lightly.",
+    "Lift the black laptop with blue bottom panel open with the left arm.",
+    "Grip and lift the blue bottom foldable black laptop's lid.",
+    "Hold the compact black laptop steady, lift lid.",
+    "Gently open the black laptop with sharp rectangular edges upward.",
+    "Raise the medium-sized laptop for work using the left arm firmly.",
+    "Pull the foldable laptop with screen's lid upward.",
+    "Use the left arm to open the laptop for browsing and computing",
+    "Gently lift the blue-black laptop using the left arm",
+    "Open the blue base black lid laptop carefully with the left arm.",
+    "Use the left arm to raise the foldable laptop with screen.",
+    "Fully open the the foldable laptop with screen.",
+    "Raise the laptop for browsing and computing lid using the left arm.",
+    "Open the rectangular laptop with foldable hinge completely.",
+    "Raise the black laptop with blue bottom panel using the left arm.",
+    "Use the left arm to lift the black-and-blue laptop with keyboard",
+    "Raise the compact black laptop to expose the screen",
+    "Use the left arm to raise the laptop for browsing and computing.",
+    "Lift the laptop for browsing and computing's lid upwards.",
+    "Carefully open the black laptop with blue bottom panel using the left arm",
+    "Use the left arm to open the foldable laptop with screen.",
+    "Lift the blue base black lid laptop's lid using the left arm.",
+    "Raise the top of the foldable laptop with screen",
+    "Gently raise the black-and-blue laptop with keyboard using the left arm.",
+    "Push the blue bottom foldable black laptop's lid upward using the left arm.",
+    "Fully lift the medium-sized laptop for work using the left arm.",
+    "Gently open the foldable laptop with screen.",
+    "Open the compact black laptop entirely.",
+    "Lift the compact black laptop to open it up",
+    "Pull the black laptop with sharp rectangular edges open with the left arm.",
+    "Raise the black laptop with sharp rectangular edges's top section.",
+    "Use the left arm to raise the blue-black laptop.",
+    "Pull the lid of the black laptop with sharp rectangular edges upward.",
+    "Lift the medium-sized laptop for work to open.",
+    "Lift and open the black laptop with sharp rectangular edges.",
+    "Lift the black-and-blue laptop with keyboard slightly.",
+    "With the left arm, open the laptop for browsing and computing's lid.",
+    "Lift the foldable laptop with screen lid completely.",
+    "Open the black laptop with blue bottom panel lifting with the left arm",
+    "Raise the black laptop with sharp rectangular edges lid with the left arm.",
+    "Raise the lid of the black laptop with sharp rectangular edges.",
+    "Use the left arm to open the compact black laptop.",
+    "Pull up the lid of the blue-black laptop",
+    "Raise the medium-sized laptop for work using the left arm.",
+    "Open the rectangular laptop with foldable hinge by lifting its lid.",
+    "Pull open the blue-black laptop",
+    "Use the left arm to open the laptop for browsing and computing.",
+    "Raise and open the laptop for browsing and computing.",
+    "Pull the screen of the blue bottom foldable black laptop.",
+    "Slide the blue base black lid laptop open with the left arm.",
+    "Pull the laptop for browsing and computing upward lightly.",
+    "Lift the black laptop with blue bottom panel open with the left arm.",
+    "Grip and lift the medium-sized laptop for work's lid.",
+    "Hold the laptop for browsing and computing steady, lift lid.",
+    "Gently open the laptop for browsing and computing upward.",
+    "Raise the laptop for browsing and computing using the left arm firmly.",
+    "Pull the laptop for browsing and computing's lid upward.",
+    "Use the left arm to open the portable laptop",
+    "Gently lift the laptop for browsing and computing using the left arm",
+    "Open the black laptop with sharp rectangular edges carefully with the left arm.",
+    "Use the left arm to raise the black laptop with sharp rectangular edges.",
+    "Fully open the the laptop for browsing and computing.",
+    "Raise the rectangular laptop with foldable hinge lid using the left arm.",
+    "Open the black laptop with blue bottom panel completely.",
+    "Raise the rectangular laptop with foldable hinge using the left arm.",
+    "Use the left arm to lift the laptop for browsing and computing",
+    "Raise the compact black laptop to expose the screen",
+    "Use the left arm to raise the black laptop with blue bottom panel.",
+    "Lift the portable laptop's lid upwards.",
+    "Carefully open the blue base black lid laptop using the left arm",
+    "Use the left arm to open the portable laptop.",
+    "Lift the compact black laptop's lid using the left arm.",
+    "Raise the top of the black laptop with blue bottom panel",
+    "Gently raise the blue base black lid laptop using the left arm.",
+    "Push the foldable laptop with screen's lid upward using the left arm.",
+    "Fully lift the black-and-blue laptop with keyboard using the left arm.",
+    "Gently open the laptop for browsing and computing.",
+    "Open the compact black laptop entirely.",
+    "Lift the rectangular laptop with foldable hinge to open it up",
+    "Pull the blue-black laptop open with the left arm.",
+    "Raise the black-and-blue laptop with keyboard's top section.",
+    "Use the left arm to raise the compact black laptop.",
+    "Pull the lid of the blue-black laptop upward.",
+    "Lift the laptop for browsing and computing to open.",
+    "Lift and open the laptop for browsing and computing.",
+    "Lift the foldable laptop with screen slightly.",
+    "With the left arm, open the medium-sized laptop for work's lid.",
+    "Lift the black-and-blue laptop with keyboard lid completely.",
+    "Open the black laptop with blue bottom panel lifting with the left arm",
+    "Raise the rectangular laptop with foldable hinge lid with the left arm.",
+    "Raise the lid of the blue-black laptop.",
+    "Use the left arm to open the foldable laptop with screen.",
+    "Pull up the lid of the black laptop with blue bottom panel",
+    "Raise the blue-black laptop using the left arm."
+  ],
+  "unseen": [
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop using the left arm.",
+    "Lift the black laptop's lid fully.",
+    "Open the laptop with display and keyboard with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the black laptop with care",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop using the left arm.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Grab the black laptop and open it.",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop with care",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Grab the black laptop and open it.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the black laptop using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop using the left arm.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the black laptop with care",
+    "Open the black laptop using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the black laptop with care",
+    "Open the black laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Grab the black laptop and open it.",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Lift the smooth black plastic laptop's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode60.json b/open_laptop/demo_clean/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..58de603ca8dfd70ea534b7a62b2f821c8bd5764a
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to open the laptop featuring textured exterior",
+    "Open the laptop with screen and keyboard carefully with the right arm.",
+    "Carefully open the hinged laptop with screen and base using the right arm",
+    "Fully open the the lightweight laptop.",
+    "Pull open the black laptop with red accents",
+    "Lift the sleek laptop design lid completely.",
+    "Raise the top of the sleek laptop design",
+    "Pull the laptop with screen and keyboard open with the right arm.",
+    "Pull the lid of the sleek laptop design upward.",
+    "Use the right arm to open the black laptop with red accents.",
+    "Lift the sleek laptop design slightly.",
+    "Use the right arm to raise the black metallic laptop.",
+    "Raise the laptop with red logo underside lid using the right arm.",
+    "Open the black laptop by lifting its lid.",
+    "Raise the laptop with screen and keyboard to expose the screen",
+    "Raise the hinged laptop with screen and base using the right arm firmly.",
+    "Grip and lift the black laptop's lid.",
+    "Lift the lightweight laptop's lid upwards.",
+    "Raise the foldable laptop with patterned keyboard using the right arm.",
+    "With the right arm, open the lightweight laptop's lid.",
+    "Gently raise the compact black laptop using the right arm.",
+    "Pull up the lid of the black metallic laptop",
+    "Lift and open the laptop with red logo underside.",
+    "Pull the laptop featuring textured exterior's lid upward.",
+    "Pull the screen of the lightweight laptop.",
+    "Raise the laptop featuring textured exterior using the right arm.",
+    "Gently open the foldable laptop with patterned keyboard.",
+    "Use the right arm to raise the laptop with screen and keyboard.",
+    "Open the compact black laptop lifting with the right arm",
+    "Use the right arm to open the sleek laptop design.",
+    "Lift the laptop with screen and keyboard open with the right arm.",
+    "Lift the sleek laptop design's lid using the right arm.",
+    "Hold the laptop featuring textured exterior steady, lift lid.",
+    "Use the right arm to raise the sleek laptop design.",
+    "Raise and open the sleek laptop design.",
+    "Pull the foldable laptop with patterned keyboard upward lightly.",
+    "Raise the laptop featuring textured exterior lid with the right arm.",
+    "Slide the lightweight laptop open with the right arm.",
+    "Fully lift the laptop featuring textured exterior using the right arm.",
+    "Open the foldable laptop with patterned keyboard entirely.",
+    "Use the right arm to open the black metallic laptop.",
+    "Raise the lid of the lightweight laptop.",
+    "Push the sleek laptop design's lid upward using the right arm.",
+    "Use the right arm to lift the laptop with screen and keyboard",
+    "Gently open the black laptop upward.",
+    "Lift the black metallic laptop to open it up",
+    "Raise the medium-sized laptop with black body's top section.",
+    "Lift the hinged laptop with screen and base to open.",
+    "Gently lift the compact black laptop using the right arm",
+    "Open the lightweight laptop completely.",
+    "Use the right arm to open the medium-sized laptop with black body",
+    "Open the black metallic laptop carefully with the right arm.",
+    "Carefully open the black metallic laptop using the right arm",
+    "Fully open the the laptop with red logo underside.",
+    "Pull open the medium-sized laptop with black body",
+    "Lift the laptop with red logo underside lid completely.",
+    "Raise the top of the black metallic laptop",
+    "Pull the laptop with red logo underside open with the right arm.",
+    "Pull the lid of the sleek laptop design upward.",
+    "Use the right arm to open the sleek laptop design.",
+    "Lift the medium-sized laptop with black body slightly.",
+    "Use the right arm to raise the sleek laptop design.",
+    "Raise the lightweight laptop lid using the right arm.",
+    "Open the laptop featuring textured exterior by lifting its lid.",
+    "Raise the black laptop to expose the screen",
+    "Raise the hinged laptop with screen and base using the right arm firmly.",
+    "Grip and lift the medium-sized laptop with black body's lid.",
+    "Lift the laptop featuring textured exterior's lid upwards.",
+    "Raise the black laptop with red accents using the right arm.",
+    "With the right arm, open the hinged laptop with screen and base's lid.",
+    "Gently raise the laptop featuring textured exterior using the right arm.",
+    "Pull up the lid of the laptop with screen and keyboard",
+    "Lift and open the black metallic laptop.",
+    "Pull the lightweight laptop's lid upward.",
+    "Pull the screen of the black laptop with red accents.",
+    "Raise the sleek laptop design using the right arm.",
+    "Gently open the hinged laptop with screen and base.",
+    "Use the right arm to raise the laptop with red logo underside.",
+    "Open the laptop with screen and keyboard lifting with the right arm",
+    "Use the right arm to open the laptop with screen and keyboard.",
+    "Lift the foldable laptop with patterned keyboard open with the right arm.",
+    "Lift the hinged laptop with screen and base's lid using the right arm.",
+    "Hold the sleek laptop design steady, lift lid.",
+    "Use the right arm to raise the medium-sized laptop with black body.",
+    "Raise and open the black laptop with red accents.",
+    "Pull the foldable laptop with patterned keyboard upward lightly.",
+    "Raise the laptop featuring textured exterior lid with the right arm.",
+    "Slide the lightweight laptop open with the right arm.",
+    "Fully lift the black metallic laptop using the right arm.",
+    "Open the sleek laptop design entirely.",
+    "Use the right arm to open the foldable laptop with patterned keyboard.",
+    "Raise the lid of the foldable laptop with patterned keyboard.",
+    "Push the laptop featuring textured exterior's lid upward using the right arm.",
+    "Use the right arm to lift the compact black laptop",
+    "Gently open the black metallic laptop upward.",
+    "Lift the black metallic laptop to open it up",
+    "Raise the sleek laptop design's top section.",
+    "Lift the black laptop with red accents to open.",
+    "Gently lift the laptop featuring textured exterior using the right arm",
+    "Open the foldable laptop with patterned keyboard completely."
+  ],
+  "unseen": [
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Open the portable laptop carefully using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the portable laptop carefully using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Grab the portable laptop and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop using the right arm.",
+    "Lift the portable laptop using the right arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the portable laptop carefully using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Lift the portable laptop using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the portable laptop carefully using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Lift the portable laptop's lid fully.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Open the portable laptop carefully using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop using the right arm.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Grab the portable laptop and open it.",
+    "Lift the laptop with patterned keyboard surface's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode61.json b/open_laptop/demo_clean/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..7003077c5e18e903663126cc051f5b663247ad73
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to open the black laptop.",
+    "Raise and open the black laptop.",
+    "Pull open the smooth laptop with Windows logo underneath",
+    "Lift the laptop for typing and computing to open it up",
+    "Lift the black laptop with metallic edges slightly.",
+    "With the right arm, open the black laptop with Saturn image on screen's lid.",
+    "Raise the medium-sized black portable laptop using the right arm firmly.",
+    "Use the right arm to open the smooth laptop with Windows logo underneath.",
+    "Lift the laptop with flat black keyboard to open.",
+    "Pull the lid of the black laptop upward.",
+    "Fully open the the black laptop with shiny display panel.",
+    "Slide the black laptop with Saturn image on screen open with the right arm.",
+    "Raise the black laptop using the right arm.",
+    "Grip and lift the black laptop with visible hinge's lid.",
+    "Use the right arm to lift the smooth laptop with Windows logo underneath",
+    "Raise the black laptop with visible hinge lid using the right arm.",
+    "Use the right arm to raise the black laptop.",
+    "Lift the medium-sized black portable laptop's lid upwards.",
+    "Open the laptop for typing and computing lifting with the right arm",
+    "Hold the portable black laptop with textured casing steady, lift lid.",
+    "Gently lift the black laptop with Saturn image on screen using the right arm",
+    "Raise the black laptop to expose the screen",
+    "Raise the lid of the medium-sized black portable laptop.",
+    "Fully lift the laptop with glossy screen using the right arm.",
+    "Use the right arm to raise the black laptop with metallic edges.",
+    "Raise the black laptop with shiny display panel's top section.",
+    "Gently open the laptop with flat black keyboard.",
+    "Use the right arm to raise the black laptop with metallic edges.",
+    "Pull the black laptop's lid upward.",
+    "Pull up the lid of the laptop for typing and computing",
+    "Raise the portable black laptop with textured casing lid with the right arm.",
+    "Gently open the black laptop upward.",
+    "Use the right arm to open the laptop with glossy screen",
+    "Open the black laptop with shiny display panel entirely.",
+    "Open the laptop with flat black keyboard by lifting its lid.",
+    "Carefully open the black laptop with shiny display panel using the right arm",
+    "Use the right arm to open the portable black laptop with textured casing.",
+    "Gently raise the black laptop using the right arm.",
+    "Pull the laptop with glossy screen open with the right arm.",
+    "Lift the black laptop with shiny display panel lid completely.",
+    "Lift the black laptop with shiny display panel open with the right arm.",
+    "Open the medium-sized black portable laptop completely.",
+    "Lift and open the smooth laptop with Windows logo underneath.",
+    "Raise the top of the laptop featuring black base and hinged screen",
+    "Pull the black laptop with metallic edges upward lightly.",
+    "Pull the screen of the portable black laptop with textured casing.",
+    "Raise the laptop with flat black keyboard using the right arm.",
+    "Push the black laptop with visible hinge's lid upward using the right arm.",
+    "Open the medium-sized black portable laptop carefully with the right arm.",
+    "Lift the laptop with flat black keyboard's lid using the right arm.",
+    "Use the right arm to open the laptop with glossy screen.",
+    "Raise and open the laptop with flat black keyboard.",
+    "Pull open the black laptop with Saturn image on screen",
+    "Lift the medium-sized black portable laptop to open it up",
+    "Lift the portable black laptop with textured casing slightly.",
+    "With the right arm, open the laptop featuring black base and hinged screen's lid.",
+    "Raise the black laptop with visible hinge using the right arm firmly.",
+    "Use the right arm to open the laptop with glossy screen.",
+    "Lift the portable black laptop with textured casing to open.",
+    "Pull the lid of the laptop featuring black base and hinged screen upward.",
+    "Fully open the the laptop with flat black keyboard.",
+    "Slide the black laptop with visible hinge open with the right arm.",
+    "Raise the medium-sized black portable laptop using the right arm.",
+    "Grip and lift the black laptop with shiny display panel's lid.",
+    "Use the right arm to lift the medium-sized black portable laptop",
+    "Raise the black laptop with visible hinge lid using the right arm.",
+    "Use the right arm to raise the laptop featuring black base and hinged screen.",
+    "Lift the laptop with flat black keyboard's lid upwards.",
+    "Open the medium-sized black portable laptop lifting with the right arm",
+    "Hold the laptop with flat black keyboard steady, lift lid.",
+    "Gently lift the laptop with glossy screen using the right arm",
+    "Raise the black laptop with metallic edges to expose the screen",
+    "Raise the lid of the smooth laptop with Windows logo underneath.",
+    "Fully lift the black laptop with visible hinge using the right arm.",
+    "Use the right arm to raise the smooth laptop with Windows logo underneath.",
+    "Raise the black laptop with visible hinge's top section.",
+    "Gently open the black laptop with metallic edges.",
+    "Use the right arm to raise the laptop featuring black base and hinged screen.",
+    "Pull the black laptop with Saturn image on screen's lid upward.",
+    "Pull up the lid of the portable black laptop with textured casing",
+    "Raise the portable black laptop with textured casing lid with the right arm.",
+    "Gently open the laptop for typing and computing upward.",
+    "Use the right arm to open the portable black laptop with textured casing",
+    "Open the smooth laptop with Windows logo underneath entirely.",
+    "Open the black laptop by lifting its lid.",
+    "Carefully open the smooth laptop with Windows logo underneath using the right arm",
+    "Use the right arm to open the black laptop with shiny display panel.",
+    "Gently raise the black laptop with shiny display panel using the right arm.",
+    "Pull the laptop with flat black keyboard open with the right arm.",
+    "Lift the medium-sized black portable laptop lid completely.",
+    "Lift the smooth laptop with Windows logo underneath open with the right arm.",
+    "Open the black laptop with metallic edges completely.",
+    "Lift and open the medium-sized black portable laptop.",
+    "Raise the top of the black laptop",
+    "Pull the smooth laptop with Windows logo underneath upward lightly.",
+    "Pull the screen of the laptop with glossy screen.",
+    "Raise the black laptop with Saturn image on screen using the right arm.",
+    "Push the portable black laptop with textured casing's lid upward using the right arm.",
+    "Open the black laptop with metallic edges carefully with the right arm.",
+    "Lift the medium-sized black portable laptop's lid using the right arm."
+  ],
+  "unseen": [
+    "Open the thin rectangular laptop with one motion.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Grab the laptop with colorful screen and open it.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Grab the laptop with colorful screen and open it.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Open the laptop with colorful screen with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid gently.",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Open the thin rectangular laptop with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Open the thin rectangular laptop with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Grab the thin rectangular laptop and open it.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Grab the laptop with colorful screen and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode62.json b/open_laptop/demo_clean/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6a79a843fc6507bcda2c66c402a12ce80bb4875
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the smooth textured laptop lifting with the left arm",
+    "Raise the black screen laptop using the left arm.",
+    "Use the left arm to raise the silver laptop with black keyboard.",
+    "Open the medium foldable silver laptop carefully with the left arm.",
+    "Gently lift the silver laptop using the left arm",
+    "Use the left arm to open the smooth textured laptop.",
+    "Lift the medium foldable silver laptop slightly.",
+    "Open the wood surrounded laptop completely.",
+    "Hold the silver laptop with foldable parts steady, lift lid.",
+    "Pull the silver laptop with foldable parts open with the left arm.",
+    "Use the left arm to raise the black screen laptop.",
+    "Use the left arm to open the laptop with black textured screen.",
+    "Open the laptop with wood panel background entirely.",
+    "Lift and open the laptop with black textured screen.",
+    "Pull the black and silver laptop's lid upward.",
+    "Carefully open the metal laptop using the left arm",
+    "Use the left arm to raise the black screen laptop.",
+    "Raise the top of the smooth textured laptop",
+    "Raise the silver laptop with black keyboard using the left arm firmly.",
+    "With the left arm, open the silver laptop with foldable parts's lid.",
+    "Raise the laptop with wood panel background to expose the screen",
+    "Use the left arm to open the black and silver laptop.",
+    "Open the silver laptop with black keyboard by lifting its lid.",
+    "Grip and lift the silver laptop with black keyboard's lid.",
+    "Fully lift the metal laptop using the left arm.",
+    "Pull the lid of the wood surrounded laptop upward.",
+    "Lift the smooth textured laptop lid completely.",
+    "Pull open the medium foldable silver laptop",
+    "Gently raise the black screen laptop using the left arm.",
+    "Push the medium foldable silver laptop's lid upward using the left arm.",
+    "Pull up the lid of the silver laptop",
+    "Fully open the the silver laptop with black keyboard.",
+    "Lift the black and silver laptop to open it up",
+    "Pull the screen of the laptop with wood panel background.",
+    "Use the left arm to open the black and silver laptop",
+    "Raise the wood surrounded laptop lid with the left arm.",
+    "Gently open the metal laptop upward.",
+    "Gently open the silver laptop with black keyboard.",
+    "Raise the metal laptop lid using the left arm.",
+    "Slide the metal laptop open with the left arm.",
+    "Lift the silver laptop's lid upwards.",
+    "Raise the laptop with black textured screen's top section.",
+    "Lift the medium foldable silver laptop's lid using the left arm.",
+    "Use the left arm to lift the keyboard laptop",
+    "Lift the wood surrounded laptop to open.",
+    "Raise the lid of the black screen laptop.",
+    "Lift the black and silver laptop open with the left arm.",
+    "Raise and open the medium foldable silver laptop.",
+    "Pull the laptop with wood panel background upward lightly.",
+    "Raise the smooth textured laptop using the left arm.",
+    "Open the laptop with wood panel background lifting with the left arm",
+    "Raise the laptop with black textured screen using the left arm.",
+    "Use the left arm to raise the silver laptop.",
+    "Open the silver laptop with black keyboard carefully with the left arm.",
+    "Gently lift the laptop with wood panel background using the left arm",
+    "Use the left arm to open the black and silver laptop.",
+    "Lift the keyboard laptop slightly.",
+    "Open the keyboard laptop completely.",
+    "Hold the laptop with wood panel background steady, lift lid.",
+    "Pull the metal laptop open with the left arm.",
+    "Use the left arm to raise the silver laptop.",
+    "Use the left arm to open the silver laptop with black keyboard.",
+    "Open the metal laptop entirely.",
+    "Lift and open the silver laptop with black keyboard.",
+    "Pull the black screen laptop's lid upward.",
+    "Carefully open the smooth textured laptop using the left arm",
+    "Use the left arm to raise the laptop with black textured screen.",
+    "Raise the top of the keyboard laptop",
+    "Raise the smooth textured laptop using the left arm firmly.",
+    "With the left arm, open the metal laptop's lid.",
+    "Raise the black and silver laptop to expose the screen",
+    "Use the left arm to open the keyboard laptop.",
+    "Open the wood surrounded laptop by lifting its lid.",
+    "Grip and lift the silver laptop's lid.",
+    "Fully lift the wood surrounded laptop using the left arm.",
+    "Pull the lid of the laptop with wood panel background upward.",
+    "Lift the keyboard laptop lid completely.",
+    "Pull open the laptop with black textured screen",
+    "Gently raise the metal laptop using the left arm.",
+    "Push the black screen laptop's lid upward using the left arm.",
+    "Pull up the lid of the metal laptop",
+    "Fully open the the laptop with black textured screen.",
+    "Lift the wood surrounded laptop to open it up",
+    "Pull the screen of the laptop with black textured screen.",
+    "Use the left arm to open the metal laptop",
+    "Raise the smooth textured laptop lid with the left arm.",
+    "Gently open the medium foldable silver laptop upward.",
+    "Gently open the black and silver laptop.",
+    "Raise the black screen laptop lid using the left arm.",
+    "Slide the laptop with wood panel background open with the left arm.",
+    "Lift the silver laptop with black keyboard's lid upwards.",
+    "Raise the silver laptop's top section.",
+    "Lift the black screen laptop's lid using the left arm.",
+    "Use the left arm to lift the medium foldable silver laptop",
+    "Lift the silver laptop with foldable parts to open.",
+    "Raise the lid of the metal laptop.",
+    "Lift the medium foldable silver laptop open with the left arm.",
+    "Raise and open the medium foldable silver laptop.",
+    "Pull the black and silver laptop upward lightly.",
+    "Raise the laptop with wood panel background using the left arm."
+  ],
+  "unseen": [
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the medium laptop with silver body with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Open the laptop with glossy black display with one motion.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Pull up the medium laptop with silver body's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode63.json b/open_laptop/demo_clean/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7a44d7db933d4b42e0c5eb7caf7c6eabacb3516
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the compact silver laptop open with the right arm.",
+    "Raise the silver laptop with dark keys to expose the screen",
+    "Lift the metal laptop with black keys's lid upwards.",
+    "Gently open the portable slim laptop upward.",
+    "Open the slim laptop entirely.",
+    "Raise the rectangular laptop with screen's top section.",
+    "Open the silver laptop with dark keys by lifting its lid.",
+    "Use the right arm to open the silver laptop with dark keys.",
+    "Grip and lift the rectangular laptop with screen's lid.",
+    "Pull the rectangular laptop with screen open with the right arm.",
+    "Raise the lightweight silver laptop using the right arm.",
+    "Push the compact silver laptop's lid upward using the right arm.",
+    "Lift and open the medium-sized silver laptop.",
+    "Pull up the lid of the metal laptop with black keys",
+    "Fully open the the slim laptop.",
+    "Pull the lid of the medium-sized silver laptop upward.",
+    "Carefully open the laptop with smooth surface using the right arm",
+    "Lift the slim laptop open with the right arm.",
+    "Pull the screen of the lightweight silver laptop.",
+    "Open the medium-sized silver laptop carefully with the right arm.",
+    "Raise the lightweight silver laptop using the right arm firmly.",
+    "Raise the lid of the laptop with smooth surface.",
+    "Use the right arm to raise the medium-sized silver laptop.",
+    "Lift the laptop with metallic finish slightly.",
+    "Lift the portable slim laptop to open.",
+    "Lift the lightweight silver laptop lid completely.",
+    "Use the right arm to open the portable slim laptop",
+    "Pull open the laptop with black keyboard",
+    "Gently raise the metal laptop with black keys using the right arm.",
+    "Raise the portable slim laptop using the right arm.",
+    "Use the right arm to open the laptop with smooth surface.",
+    "Use the right arm to lift the medium-sized silver laptop",
+    "Use the right arm to open the medium-sized silver laptop.",
+    "Pull the silver laptop with dark keys's lid upward.",
+    "Fully lift the lightweight silver laptop using the right arm.",
+    "Gently lift the portable slim laptop using the right arm",
+    "Gently open the lightweight silver laptop.",
+    "Lift the slim laptop to open it up",
+    "Use the right arm to raise the laptop with smooth surface.",
+    "Raise the metal laptop with black keys lid using the right arm.",
+    "Use the right arm to raise the medium-sized silver laptop.",
+    "Raise and open the metal laptop with black keys.",
+    "Open the laptop with metallic finish lifting with the right arm",
+    "With the right arm, open the laptop with foldable screen design's lid.",
+    "Hold the laptop with foldable screen design steady, lift lid.",
+    "Open the rectangular laptop with screen completely.",
+    "Pull the medium-sized silver laptop upward lightly.",
+    "Raise the top of the lightweight silver laptop",
+    "Raise the portable slim laptop lid with the right arm.",
+    "Lift the medium-sized silver laptop's lid using the right arm.",
+    "Slide the silver laptop with dark keys open with the right arm.",
+    "Raise the lightweight silver laptop to expose the screen",
+    "Lift the rectangular laptop with screen's lid upwards.",
+    "Gently open the laptop with smooth surface upward.",
+    "Open the lightweight silver laptop entirely.",
+    "Raise the metal laptop with black keys's top section.",
+    "Open the laptop with smooth surface by lifting its lid.",
+    "Use the right arm to open the compact silver laptop.",
+    "Grip and lift the metal laptop with black keys's lid.",
+    "Pull the rectangular laptop with screen open with the right arm.",
+    "Raise the metal laptop with black keys using the right arm.",
+    "Push the laptop with metallic finish's lid upward using the right arm.",
+    "Lift and open the laptop with foldable screen design.",
+    "Pull up the lid of the medium-sized silver laptop",
+    "Fully open the the medium-sized silver laptop.",
+    "Pull the lid of the compact silver laptop upward.",
+    "Carefully open the rectangular laptop with screen using the right arm",
+    "Lift the laptop with metallic finish open with the right arm.",
+    "Pull the screen of the lightweight silver laptop.",
+    "Open the silver laptop with dark keys carefully with the right arm.",
+    "Raise the portable slim laptop using the right arm firmly.",
+    "Raise the lid of the silver laptop with dark keys.",
+    "Use the right arm to raise the lightweight silver laptop.",
+    "Lift the laptop with black keyboard slightly.",
+    "Lift the medium-sized silver laptop to open.",
+    "Lift the laptop with foldable screen design lid completely.",
+    "Use the right arm to open the laptop with foldable screen design",
+    "Pull open the silver laptop with dark keys",
+    "Gently raise the slim laptop using the right arm.",
+    "Raise the rectangular laptop with screen using the right arm.",
+    "Use the right arm to open the slim laptop.",
+    "Use the right arm to lift the laptop with metallic finish",
+    "Use the right arm to open the metal laptop with black keys.",
+    "Pull the rectangular laptop with screen's lid upward.",
+    "Fully lift the laptop with foldable screen design using the right arm.",
+    "Gently lift the rectangular laptop with screen using the right arm",
+    "Gently open the laptop with metallic finish.",
+    "Lift the laptop with black keyboard to open it up",
+    "Use the right arm to raise the lightweight silver laptop.",
+    "Raise the laptop with black keyboard lid using the right arm.",
+    "Use the right arm to raise the compact silver laptop.",
+    "Raise and open the silver laptop with dark keys.",
+    "Open the compact silver laptop lifting with the right arm",
+    "With the right arm, open the rectangular laptop with screen's lid.",
+    "Hold the lightweight silver laptop steady, lift lid.",
+    "Open the laptop with metallic finish completely.",
+    "Pull the laptop with smooth surface upward lightly.",
+    "Raise the top of the rectangular laptop with screen",
+    "Raise the laptop with foldable screen design lid with the right arm.",
+    "Lift the metal laptop with black keys's lid using the right arm."
+  ],
+  "unseen": [
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the silver laptop using the right arm",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the silver laptop using the right arm",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop using the right arm",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the silver laptop using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the silver laptop using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop using the right arm",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the foldable laptop using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid fully.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the folding laptop with black keyboard using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode64.json b/open_laptop/demo_clean/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a13a20a91b7ba0f7aa6dff4ed2d2dcae967dc3c
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the black and silver laptop to expose the screen",
+    "Fully open the the wood surrounded laptop.",
+    "Use the right arm to lift the silver laptop with foldable parts",
+    "Raise the smooth textured laptop's top section.",
+    "Pull the lid of the laptop with black textured screen upward.",
+    "Raise the medium foldable silver laptop lid with the right arm.",
+    "Use the right arm to open the black screen laptop.",
+    "Lift the laptop with black textured screen slightly.",
+    "Pull the silver laptop with foldable parts's lid upward.",
+    "Raise the metal laptop using the right arm.",
+    "Use the right arm to open the laptop with wood panel background.",
+    "Open the wood surrounded laptop completely.",
+    "Lift the smooth textured laptop open with the right arm.",
+    "Raise the top of the black screen laptop",
+    "Raise the laptop with wood panel background lid using the right arm.",
+    "Raise and open the black screen laptop.",
+    "Pull open the smooth textured laptop",
+    "Use the right arm to raise the keyboard laptop.",
+    "Use the right arm to open the smooth textured laptop.",
+    "Hold the silver laptop with black keyboard steady, lift lid.",
+    "Open the black screen laptop by lifting its lid.",
+    "Lift and open the silver laptop with black keyboard.",
+    "Gently open the silver laptop with black keyboard upward.",
+    "With the right arm, open the silver laptop with black keyboard's lid.",
+    "Lift the silver laptop with black keyboard to open.",
+    "Pull the screen of the silver laptop with foldable parts.",
+    "Lift the medium foldable silver laptop's lid upwards.",
+    "Raise the lid of the black and silver laptop.",
+    "Raise the silver laptop with foldable parts using the right arm.",
+    "Gently raise the silver laptop using the right arm.",
+    "Pull up the lid of the medium foldable silver laptop",
+    "Gently open the smooth textured laptop.",
+    "Gently lift the silver laptop using the right arm",
+    "Lift the metal laptop to open it up",
+    "Lift the laptop with black textured screen's lid using the right arm.",
+    "Slide the smooth textured laptop open with the right arm.",
+    "Raise the wood surrounded laptop using the right arm firmly.",
+    "Open the keyboard laptop entirely.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Use the right arm to raise the metal laptop.",
+    "Carefully open the black screen laptop using the right arm",
+    "Push the black and silver laptop's lid upward using the right arm.",
+    "Use the right arm to open the keyboard laptop",
+    "Pull the smooth textured laptop open with the right arm.",
+    "Open the wood surrounded laptop carefully with the right arm.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Open the metal laptop lifting with the right arm",
+    "Fully lift the silver laptop using the right arm.",
+    "Pull the smooth textured laptop upward lightly.",
+    "Lift the keyboard laptop lid completely.",
+    "Raise the silver laptop with foldable parts to expose the screen",
+    "Fully open the the medium foldable silver laptop.",
+    "Use the right arm to lift the laptop with wood panel background",
+    "Raise the keyboard laptop's top section.",
+    "Pull the lid of the silver laptop with black keyboard upward.",
+    "Raise the laptop with black textured screen lid with the right arm.",
+    "Use the right arm to open the silver laptop with foldable parts.",
+    "Lift the silver laptop slightly.",
+    "Pull the keyboard laptop's lid upward.",
+    "Raise the wood surrounded laptop using the right arm.",
+    "Use the right arm to open the black and silver laptop.",
+    "Open the medium foldable silver laptop completely.",
+    "Lift the wood surrounded laptop open with the right arm.",
+    "Raise the top of the black and silver laptop",
+    "Raise the smooth textured laptop lid using the right arm.",
+    "Raise and open the wood surrounded laptop.",
+    "Pull open the laptop with wood panel background",
+    "Use the right arm to raise the black screen laptop.",
+    "Use the right arm to open the silver laptop with foldable parts.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Open the medium foldable silver laptop by lifting its lid.",
+    "Lift and open the silver laptop.",
+    "Gently open the laptop with wood panel background upward.",
+    "With the right arm, open the keyboard laptop's lid.",
+    "Lift the black and silver laptop to open.",
+    "Pull the screen of the wood surrounded laptop.",
+    "Lift the silver laptop's lid upwards.",
+    "Raise the lid of the laptop with black textured screen.",
+    "Raise the smooth textured laptop using the right arm.",
+    "Gently raise the smooth textured laptop using the right arm.",
+    "Pull up the lid of the silver laptop with foldable parts",
+    "Gently open the black screen laptop.",
+    "Gently lift the laptop with black textured screen using the right arm",
+    "Lift the black and silver laptop to open it up",
+    "Lift the silver laptop with black keyboard's lid using the right arm.",
+    "Slide the keyboard laptop open with the right arm.",
+    "Raise the smooth textured laptop using the right arm firmly.",
+    "Open the medium foldable silver laptop entirely.",
+    "Grip and lift the medium foldable silver laptop's lid.",
+    "Use the right arm to raise the wood surrounded laptop.",
+    "Carefully open the silver laptop using the right arm",
+    "Push the silver laptop with foldable parts's lid upward using the right arm.",
+    "Use the right arm to open the wood surrounded laptop",
+    "Pull the silver laptop with foldable parts open with the right arm.",
+    "Open the laptop with wood panel background carefully with the right arm.",
+    "Use the right arm to raise the silver laptop with black keyboard.",
+    "Open the keyboard laptop lifting with the right arm",
+    "Fully lift the silver laptop using the right arm.",
+    "Pull the black screen laptop upward lightly.",
+    "Lift the black screen laptop lid completely."
+  ],
+  "unseen": [
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Open the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop with care",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode65.json b/open_laptop/demo_clean/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9229e87dd487f88c590ae72065f535eb15f579b
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the lid of the black metallic laptop upward.",
+    "Use the left arm to lift the hinged laptop with screen and base",
+    "Raise and open the black metallic laptop.",
+    "Lift the hinged laptop with screen and base's lid upwards.",
+    "Pull up the lid of the black laptop",
+    "Use the left arm to open the compact black laptop",
+    "Raise the lid of the laptop with screen and keyboard.",
+    "Open the hinged laptop with screen and base entirely.",
+    "Fully open the the lightweight laptop.",
+    "Gently raise the hinged laptop with screen and base using the left arm.",
+    "Lift and open the compact black laptop.",
+    "Slide the black laptop open with the left arm.",
+    "Carefully open the hinged laptop with screen and base using the left arm",
+    "Open the sleek laptop design carefully with the left arm.",
+    "Use the left arm to raise the black laptop.",
+    "Hold the foldable laptop with patterned keyboard steady, lift lid.",
+    "Pull open the lightweight laptop",
+    "Raise the top of the black laptop with red accents",
+    "Lift the black laptop to open it up",
+    "Pull the compact black laptop upward lightly.",
+    "Lift the laptop featuring textured exterior lid completely.",
+    "Grip and lift the foldable laptop with patterned keyboard's lid.",
+    "Raise the laptop featuring textured exterior to expose the screen",
+    "Use the left arm to open the laptop with red logo underside.",
+    "Gently open the laptop with screen and keyboard.",
+    "Open the black laptop with red accents lifting with the left arm",
+    "Lift the hinged laptop with screen and base to open.",
+    "Use the left arm to open the laptop with screen and keyboard.",
+    "Lift the black laptop with red accents slightly.",
+    "Pull the laptop with screen and keyboard open with the left arm.",
+    "Lift the black laptop's lid using the left arm.",
+    "Raise the medium-sized laptop with black body using the left arm firmly.",
+    "Pull the screen of the laptop with screen and keyboard.",
+    "Lift the laptop featuring textured exterior open with the left arm.",
+    "Open the black laptop by lifting its lid.",
+    "Gently open the compact black laptop upward.",
+    "Raise the lightweight laptop using the left arm.",
+    "With the left arm, open the laptop with red logo underside's lid.",
+    "Use the left arm to open the lightweight laptop.",
+    "Push the laptop featuring textured exterior's lid upward using the left arm.",
+    "Gently lift the black laptop with red accents using the left arm",
+    "Open the medium-sized laptop with black body completely.",
+    "Use the left arm to raise the laptop with screen and keyboard.",
+    "Raise the lightweight laptop lid using the left arm.",
+    "Pull the hinged laptop with screen and base's lid upward.",
+    "Fully lift the black metallic laptop using the left arm.",
+    "Raise the laptop with screen and keyboard lid with the left arm.",
+    "Use the left arm to raise the foldable laptop with patterned keyboard.",
+    "Raise the black laptop with red accents using the left arm.",
+    "Raise the medium-sized laptop with black body's top section.",
+    "Pull the lid of the laptop with red logo underside upward.",
+    "Use the left arm to lift the laptop with red logo underside",
+    "Raise and open the medium-sized laptop with black body.",
+    "Lift the laptop with screen and keyboard's lid upwards.",
+    "Pull up the lid of the laptop featuring textured exterior",
+    "Use the left arm to open the black laptop with red accents",
+    "Raise the lid of the sleek laptop design.",
+    "Open the compact black laptop entirely.",
+    "Fully open the the medium-sized laptop with black body.",
+    "Gently raise the black metallic laptop using the left arm.",
+    "Lift and open the laptop with red logo underside.",
+    "Slide the foldable laptop with patterned keyboard open with the left arm.",
+    "Carefully open the black metallic laptop using the left arm",
+    "Open the hinged laptop with screen and base carefully with the left arm.",
+    "Use the left arm to raise the black laptop with red accents.",
+    "Hold the laptop with screen and keyboard steady, lift lid.",
+    "Pull open the foldable laptop with patterned keyboard",
+    "Raise the top of the foldable laptop with patterned keyboard",
+    "Lift the foldable laptop with patterned keyboard to open it up",
+    "Pull the black laptop upward lightly.",
+    "Lift the hinged laptop with screen and base lid completely.",
+    "Grip and lift the laptop with screen and keyboard's lid.",
+    "Raise the laptop with screen and keyboard to expose the screen",
+    "Use the left arm to open the foldable laptop with patterned keyboard.",
+    "Gently open the lightweight laptop.",
+    "Open the laptop with red logo underside lifting with the left arm",
+    "Lift the lightweight laptop to open.",
+    "Use the left arm to open the sleek laptop design.",
+    "Lift the laptop featuring textured exterior slightly.",
+    "Pull the black laptop with red accents open with the left arm.",
+    "Lift the lightweight laptop's lid using the left arm.",
+    "Raise the black laptop using the left arm firmly.",
+    "Pull the screen of the laptop with screen and keyboard.",
+    "Lift the black laptop open with the left arm.",
+    "Open the hinged laptop with screen and base by lifting its lid.",
+    "Gently open the black laptop with red accents upward.",
+    "Raise the laptop featuring textured exterior using the left arm.",
+    "With the left arm, open the compact black laptop's lid.",
+    "Use the left arm to open the compact black laptop.",
+    "Push the laptop with screen and keyboard's lid upward using the left arm.",
+    "Gently lift the lightweight laptop using the left arm",
+    "Open the foldable laptop with patterned keyboard completely.",
+    "Use the left arm to raise the black metallic laptop.",
+    "Raise the laptop featuring textured exterior lid using the left arm.",
+    "Pull the medium-sized laptop with black body's lid upward.",
+    "Fully lift the lightweight laptop using the left arm.",
+    "Raise the laptop featuring textured exterior lid with the left arm.",
+    "Use the left arm to raise the black laptop with red accents.",
+    "Raise the laptop with screen and keyboard using the left arm.",
+    "Raise the foldable laptop with patterned keyboard's top section."
+  ],
+  "unseen": [
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the portable laptop using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the left arm",
+    "Pull up the portable laptop's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the portable laptop with care",
+    "Open the portable laptop using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the left arm",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Open the portable laptop with care",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the left arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the portable laptop and open it.",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the portable laptop and open it.",
+    "Open the portable laptop carefully using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Open the portable laptop with care",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the left arm",
+    "Pull up the portable laptop's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the portable laptop using the left arm.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the left arm",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the portable laptop using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the portable laptop using the left arm.",
+    "Grab the portable laptop and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop with one motion.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the portable laptop using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the portable laptop using the left arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the portable laptop's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode66.json b/open_laptop/demo_clean/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..15f93d479d8bcd0a9d784271032f8dc753397f9d
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the top of the laptop with screen and keyboard",
+    "Fully open the the sleek laptop design.",
+    "Pull the compact black laptop upward lightly.",
+    "Use the left arm to open the hinged laptop with screen and base.",
+    "Raise the lid of the black metallic laptop.",
+    "Gently lift the medium-sized laptop with black body using the left arm",
+    "Use the left arm to open the lightweight laptop.",
+    "With the left arm, open the black laptop's lid.",
+    "Slide the black laptop open with the left arm.",
+    "Carefully open the black laptop with red accents using the left arm",
+    "Lift and open the black metallic laptop.",
+    "Push the black laptop with red accents's lid upward using the left arm.",
+    "Open the medium-sized laptop with black body carefully with the left arm.",
+    "Pull the black metallic laptop's lid upward.",
+    "Pull open the black laptop",
+    "Pull the black laptop with red accents open with the left arm.",
+    "Gently open the laptop with red logo underside upward.",
+    "Lift the laptop with screen and keyboard slightly.",
+    "Use the left arm to open the black laptop with red accents.",
+    "Lift the sleek laptop design lid completely.",
+    "Raise the laptop with red logo underside's top section.",
+    "Pull up the lid of the black laptop with red accents",
+    "Lift the laptop featuring textured exterior's lid upwards.",
+    "Raise the compact black laptop lid using the left arm.",
+    "Lift the black laptop to open.",
+    "Open the laptop with red logo underside entirely.",
+    "Raise the black metallic laptop lid with the left arm.",
+    "Gently raise the laptop with red logo underside using the left arm.",
+    "Lift the laptop with screen and keyboard to open it up",
+    "Raise the laptop featuring textured exterior using the left arm.",
+    "Hold the laptop featuring textured exterior steady, lift lid.",
+    "Use the left arm to raise the compact black laptop.",
+    "Use the left arm to raise the medium-sized laptop with black body.",
+    "Fully lift the black laptop using the left arm.",
+    "Raise the black laptop with red accents using the left arm.",
+    "Raise the black metallic laptop using the left arm firmly.",
+    "Raise the laptop with red logo underside to expose the screen",
+    "Use the left arm to open the lightweight laptop",
+    "Pull the screen of the compact black laptop.",
+    "Gently open the laptop with red logo underside.",
+    "Lift the hinged laptop with screen and base's lid using the left arm.",
+    "Lift the hinged laptop with screen and base open with the left arm.",
+    "Use the left arm to lift the black metallic laptop",
+    "Pull the lid of the black laptop upward.",
+    "Raise and open the foldable laptop with patterned keyboard.",
+    "Use the left arm to raise the compact black laptop.",
+    "Open the black metallic laptop lifting with the left arm",
+    "Open the hinged laptop with screen and base completely.",
+    "Open the hinged laptop with screen and base by lifting its lid.",
+    "Grip and lift the black laptop with red accents's lid.",
+    "Raise the top of the laptop with screen and keyboard",
+    "Fully open the the black laptop.",
+    "Pull the laptop featuring textured exterior upward lightly.",
+    "Use the left arm to open the black metallic laptop.",
+    "Raise the lid of the black laptop.",
+    "Gently lift the black metallic laptop using the left arm",
+    "Use the left arm to open the black laptop with red accents.",
+    "With the left arm, open the hinged laptop with screen and base's lid.",
+    "Slide the compact black laptop open with the left arm.",
+    "Carefully open the foldable laptop with patterned keyboard using the left arm",
+    "Lift and open the sleek laptop design.",
+    "Push the laptop with red logo underside's lid upward using the left arm.",
+    "Open the black laptop with red accents carefully with the left arm.",
+    "Pull the lightweight laptop's lid upward.",
+    "Pull open the laptop featuring textured exterior",
+    "Pull the sleek laptop design open with the left arm.",
+    "Gently open the laptop with screen and keyboard upward.",
+    "Lift the black laptop slightly.",
+    "Use the left arm to open the hinged laptop with screen and base.",
+    "Lift the compact black laptop lid completely.",
+    "Raise the compact black laptop's top section.",
+    "Pull up the lid of the laptop with screen and keyboard",
+    "Lift the lightweight laptop's lid upwards.",
+    "Raise the black metallic laptop lid using the left arm.",
+    "Lift the black metallic laptop to open.",
+    "Open the laptop featuring textured exterior entirely.",
+    "Raise the sleek laptop design lid with the left arm.",
+    "Gently raise the black laptop using the left arm.",
+    "Lift the black metallic laptop to open it up",
+    "Raise the medium-sized laptop with black body using the left arm.",
+    "Hold the lightweight laptop steady, lift lid.",
+    "Use the left arm to raise the medium-sized laptop with black body.",
+    "Use the left arm to raise the sleek laptop design.",
+    "Fully lift the laptop featuring textured exterior using the left arm.",
+    "Raise the black laptop using the left arm.",
+    "Raise the compact black laptop using the left arm firmly.",
+    "Raise the hinged laptop with screen and base to expose the screen",
+    "Use the left arm to open the medium-sized laptop with black body",
+    "Pull the screen of the sleek laptop design.",
+    "Gently open the sleek laptop design.",
+    "Lift the lightweight laptop's lid using the left arm.",
+    "Lift the medium-sized laptop with black body open with the left arm.",
+    "Use the left arm to lift the compact black laptop",
+    "Pull the lid of the black laptop upward.",
+    "Raise and open the lightweight laptop.",
+    "Use the left arm to raise the laptop featuring textured exterior.",
+    "Open the black laptop lifting with the left arm",
+    "Open the compact black laptop completely.",
+    "Open the black metallic laptop by lifting its lid.",
+    "Grip and lift the lightweight laptop's lid."
+  ],
+  "unseen": [
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the portable laptop using the left arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the portable laptop using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the portable laptop using the left arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the portable laptop using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid fully.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the left arm",
+    "Lift the portable laptop using the left arm.",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop carefully using the left arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the left arm",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the portable laptop using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop carefully using the left arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the portable laptop carefully using the left arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop using the left arm",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid fully.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop carefully using the left arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode67.json b/open_laptop/demo_clean/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..a54ee93dd6674bb5cd3558f5d4031a2444a3ff8e
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to raise the laptop with silver buttons on keyboard.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Lift the laptop with shiny black surface to open it up",
+    "Pull the screen of the black laptop with smooth body.",
+    "Lift the laptop with wide black lid's lid upwards.",
+    "Use the right arm to lift the laptop with rectangular display screen",
+    "Raise the rectangular laptop with folding hinge using the right arm.",
+    "Pull the laptop featuring built-in keyboard upward lightly.",
+    "Raise and open the laptop with rectangular display screen.",
+    "Pull open the rectangular laptop with folding hinge",
+    "Open the black laptop carefully with the right arm.",
+    "Lift and open the laptop featuring built-in keyboard.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Use the right arm to open the rectangular laptop with smooth texture",
+    "Gently raise the laptop with rectangular display screen using the right arm.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Pull the black laptop with smooth body open with the right arm.",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Raise the top of the laptop with rectangular display screen",
+    "Raise the laptop with silver buttons on keyboard to expose the screen",
+    "Lift the black and silver portable laptop lid completely.",
+    "Use the right arm to open the laptop with silver buttons on keyboard.",
+    "Raise the lid of the rectangular laptop with smooth texture.",
+    "Open the laptop with silver buttons on keyboard completely.",
+    "Push the black and silver portable laptop's lid upward using the right arm.",
+    "Raise the black laptop with smooth body lid using the right arm.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Fully open the the rectangular laptop with folding hinge.",
+    "Pull the laptop with wide black lid's lid upward.",
+    "Slide the rectangular laptop with smooth texture open with the right arm.",
+    "Raise the laptop with silver buttons on keyboard lid with the right arm.",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Raise the laptop with shiny black surface's top section.",
+    "Lift the laptop with wide black lid to open.",
+    "Fully lift the black and silver portable laptop using the right arm.",
+    "With the right arm, open the rectangular laptop with smooth texture's lid.",
+    "Gently lift the laptop featuring built-in keyboard using the right arm",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Gently open the rectangular laptop with folding hinge.",
+    "Lift the black laptop slightly.",
+    "Open the clamshell laptop with flat screen entirely.",
+    "Raise the black and silver portable laptop using the right arm firmly.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Pull up the lid of the laptop with wide black lid",
+    "Lift the laptop with wide black lid open with the right arm.",
+    "Open the black laptop with smooth body lifting with the right arm",
+    "Gently open the rectangular laptop with smooth texture upward.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Pull the lid of the laptop featuring built-in keyboard upward.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Lift the laptop with silver buttons on keyboard to open it up",
+    "Pull the screen of the black and silver portable laptop.",
+    "Lift the rectangular laptop with smooth texture's lid upwards.",
+    "Use the right arm to lift the laptop with wide black lid",
+    "Raise the clamshell laptop with flat screen using the right arm.",
+    "Pull the laptop with shiny black surface upward lightly.",
+    "Raise and open the rectangular laptop with folding hinge.",
+    "Pull open the rectangular laptop with smooth texture",
+    "Open the laptop with silver keyboard carefully with the right arm.",
+    "Lift and open the rectangular laptop with folding hinge.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Use the right arm to open the black and silver portable laptop",
+    "Gently raise the laptop featuring built-in keyboard using the right arm.",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Use the right arm to raise the laptop with silver buttons on keyboard.",
+    "Pull the clamshell laptop with flat screen open with the right arm.",
+    "Grip and lift the laptop featuring built-in keyboard's lid.",
+    "Raise the top of the black and silver portable laptop",
+    "Raise the rectangular laptop with smooth texture to expose the screen",
+    "Lift the laptop with wide black lid lid completely.",
+    "Use the right arm to open the rectangular laptop with smooth texture.",
+    "Raise the lid of the black laptop.",
+    "Open the laptop with wide black lid completely.",
+    "Push the laptop with shiny black surface's lid upward using the right arm.",
+    "Raise the rectangular laptop with smooth texture lid using the right arm.",
+    "Use the right arm to raise the laptop featuring built-in keyboard.",
+    "Fully open the the black laptop with smooth body.",
+    "Pull the clamshell laptop with flat screen's lid upward.",
+    "Slide the black and silver portable laptop open with the right arm.",
+    "Raise the laptop with wide black lid lid with the right arm.",
+    "Carefully open the laptop featuring built-in keyboard using the right arm",
+    "Raise the clamshell laptop with flat screen's top section.",
+    "Lift the rectangular laptop with smooth texture to open.",
+    "Fully lift the laptop with silver buttons on keyboard using the right arm.",
+    "With the right arm, open the rectangular laptop with smooth texture's lid.",
+    "Gently lift the black and silver portable laptop using the right arm",
+    "Hold the black laptop steady, lift lid.",
+    "Gently open the black and silver portable laptop.",
+    "Lift the black laptop with smooth body slightly.",
+    "Open the laptop with rectangular display screen entirely.",
+    "Raise the laptop with rectangular display screen using the right arm firmly.",
+    "Open the laptop with silver buttons on keyboard by lifting its lid.",
+    "Pull up the lid of the black and silver portable laptop",
+    "Lift the laptop with shiny black surface open with the right arm.",
+    "Open the clamshell laptop with flat screen lifting with the right arm",
+    "Gently open the black laptop upward.",
+    "Lift the black laptop with smooth body's lid using the right arm."
+  ],
+  "unseen": [
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Grab the medium laptop with black case and open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode68.json b/open_laptop/demo_clean/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a6628b540ea46b5538fe7f879a4d0dc0a46fec4
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Gently lift the black and silver portable laptop using the right arm",
+    "Raise the rectangular laptop with folding hinge using the right arm.",
+    "Raise the black laptop lid with the right arm.",
+    "Raise the clamshell laptop with flat screen to expose the screen",
+    "Lift the laptop featuring built-in keyboard's lid upwards.",
+    "Push the black laptop's lid upward using the right arm.",
+    "Use the right arm to lift the laptop with shiny black surface",
+    "Gently raise the rectangular laptop with smooth texture using the right arm.",
+    "Lift the black laptop with smooth body to open.",
+    "Gently open the laptop with rectangular display screen.",
+    "Slide the rectangular laptop with smooth texture open with the right arm.",
+    "Pull the laptop with rectangular display screen's lid upward.",
+    "Raise the top of the laptop with silver buttons on keyboard",
+    "Lift and open the laptop with wide black lid.",
+    "Use the right arm to open the black and silver portable laptop",
+    "Fully lift the black and silver portable laptop using the right arm.",
+    "Pull the screen of the rectangular laptop with folding hinge.",
+    "With the right arm, open the laptop with shiny black surface's lid.",
+    "Open the black and silver portable laptop carefully with the right arm.",
+    "Grip and lift the laptop with shiny black surface's lid.",
+    "Raise the laptop featuring built-in keyboard's top section.",
+    "Raise the laptop with shiny black surface using the right arm firmly.",
+    "Gently open the rectangular laptop with folding hinge upward.",
+    "Pull up the lid of the clamshell laptop with flat screen",
+    "Lift the laptop with shiny black surface's lid using the right arm.",
+    "Lift the black laptop lid completely.",
+    "Pull the lid of the laptop with rectangular display screen upward.",
+    "Open the laptop with silver keyboard entirely.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Lift the laptop featuring built-in keyboard open with the right arm.",
+    "Carefully open the clamshell laptop with flat screen using the right arm",
+    "Lift the black laptop with smooth body to open it up",
+    "Raise and open the black laptop with smooth body.",
+    "Pull the laptop with silver buttons on keyboard open with the right arm.",
+    "Raise the rectangular laptop with smooth texture lid using the right arm.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Raise the lid of the laptop with shiny black surface.",
+    "Hold the laptop with silver buttons on keyboard steady, lift lid.",
+    "Pull the laptop with rectangular display screen upward lightly.",
+    "Use the right arm to open the black laptop.",
+    "Raise the rectangular laptop with folding hinge using the right arm.",
+    "Pull open the laptop with shiny black surface",
+    "Lift the laptop with silver buttons on keyboard slightly.",
+    "Fully open the the laptop with rectangular display screen.",
+    "Open the black laptop with smooth body completely.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Open the black laptop with smooth body lifting with the right arm",
+    "Use the right arm to open the rectangular laptop with smooth texture.",
+    "Use the right arm to open the laptop with silver buttons on keyboard.",
+    "Use the right arm to raise the laptop with silver buttons on keyboard.",
+    "Gently lift the laptop with silver buttons on keyboard using the right arm",
+    "Raise the laptop featuring built-in keyboard using the right arm.",
+    "Raise the laptop with silver buttons on keyboard lid with the right arm.",
+    "Raise the laptop with silver buttons on keyboard to expose the screen",
+    "Lift the black laptop with smooth body's lid upwards.",
+    "Push the rectangular laptop with folding hinge's lid upward using the right arm.",
+    "Use the right arm to lift the black laptop with smooth body",
+    "Gently raise the black laptop with smooth body using the right arm.",
+    "Lift the laptop with rectangular display screen to open.",
+    "Gently open the laptop with wide black lid.",
+    "Slide the laptop with silver keyboard open with the right arm.",
+    "Pull the black laptop with smooth body's lid upward.",
+    "Raise the top of the laptop with rectangular display screen",
+    "Lift and open the rectangular laptop with folding hinge.",
+    "Use the right arm to open the rectangular laptop with smooth texture",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Pull the screen of the laptop with shiny black surface.",
+    "With the right arm, open the laptop with silver keyboard's lid.",
+    "Open the rectangular laptop with smooth texture carefully with the right arm.",
+    "Grip and lift the rectangular laptop with smooth texture's lid.",
+    "Raise the black and silver portable laptop's top section.",
+    "Raise the laptop with rectangular display screen using the right arm firmly.",
+    "Gently open the laptop featuring built-in keyboard upward.",
+    "Pull up the lid of the rectangular laptop with smooth texture",
+    "Lift the laptop featuring built-in keyboard's lid using the right arm.",
+    "Lift the laptop with wide black lid lid completely.",
+    "Pull the lid of the laptop featuring built-in keyboard upward.",
+    "Open the laptop with wide black lid entirely.",
+    "Open the laptop featuring built-in keyboard by lifting its lid.",
+    "Lift the laptop with rectangular display screen open with the right arm.",
+    "Carefully open the black laptop with smooth body using the right arm",
+    "Lift the black laptop to open it up",
+    "Raise and open the black laptop with smooth body.",
+    "Pull the laptop with shiny black surface open with the right arm.",
+    "Raise the laptop with shiny black surface lid using the right arm.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Raise the lid of the black and silver portable laptop.",
+    "Hold the black and silver portable laptop steady, lift lid.",
+    "Pull the black laptop with smooth body upward lightly.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Pull open the laptop with silver keyboard",
+    "Lift the laptop with silver keyboard slightly.",
+    "Fully open the the black laptop.",
+    "Open the clamshell laptop with flat screen completely.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Open the laptop featuring built-in keyboard lifting with the right arm",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Use the right arm to open the black and silver portable laptop."
+  ],
+  "unseen": [
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode69.json b/open_laptop/demo_clean/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5f4fa975290d628ae05482b93d2933e0a26acf3
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the laptop with blue screen by lifting its lid.",
+    "Raise the lid of the laptop with black hinge area.",
+    "Lift the laptop with blue screen to open.",
+    "Pull the lid of the hinged screen laptop upward.",
+    "Raise the medium rectangular orange laptop using the left arm firmly.",
+    "Pull open the laptop with blue screen",
+    "Raise the laptop with blue screen's top section.",
+    "Pull the thin portable laptop open with the left arm.",
+    "Carefully open the thin portable laptop using the left arm",
+    "Lift the hinged screen laptop open with the left arm.",
+    "Raise the laptop with blue screen using the left arm.",
+    "Use the left arm to lift the plastic orange laptop with metal parts",
+    "Lift and open the blue screen foldable laptop.",
+    "Open the blue screen foldable laptop carefully with the left arm.",
+    "Raise the orange laptop using the left arm.",
+    "Fully lift the blue screen portable laptop using the left arm.",
+    "Use the left arm to open the laptop with folding lid.",
+    "Lift the laptop with blue screen to open it up",
+    "Raise and open the blue screen foldable laptop.",
+    "With the left arm, open the laptop with folding lid's lid.",
+    "Use the left arm to open the plastic orange laptop with metal parts.",
+    "Gently raise the medium rectangular orange laptop using the left arm.",
+    "Raise the top of the thin portable laptop",
+    "Lift the blue screen portable laptop's lid upwards.",
+    "Open the foldable laptop entirely.",
+    "Open the hinged screen laptop completely.",
+    "Lift the hinged screen laptop lid completely.",
+    "Gently open the laptop with blue screen upward.",
+    "Pull the screen of the laptop with folding lid.",
+    "Gently lift the rectangular laptop with orange body using the left arm",
+    "Use the left arm to open the thin portable laptop",
+    "Raise the plastic orange laptop with metal parts lid using the left arm.",
+    "Pull up the lid of the rectangular laptop with orange body",
+    "Gently open the thin portable laptop.",
+    "Push the blue screen foldable laptop's lid upward using the left arm.",
+    "Use the left arm to raise the laptop with folding lid.",
+    "Grip and lift the laptop with blue screen's lid.",
+    "Lift the foldable laptop's lid using the left arm.",
+    "Raise the hinged screen laptop lid with the left arm.",
+    "Use the left arm to raise the laptop with blue screen.",
+    "Slide the rectangular laptop with orange body open with the left arm.",
+    "Pull the orange laptop upward lightly.",
+    "Open the medium rectangular orange laptop lifting with the left arm",
+    "Fully open the the hinged screen laptop.",
+    "Use the left arm to open the thin portable laptop.",
+    "Lift the foldable laptop slightly.",
+    "Use the left arm to raise the laptop with black hinge area.",
+    "Pull the foldable laptop's lid upward.",
+    "Raise the plastic orange laptop with metal parts to expose the screen",
+    "Hold the hinged screen laptop steady, lift lid.",
+    "Open the foldable laptop by lifting its lid.",
+    "Raise the lid of the plastic orange laptop with metal parts.",
+    "Lift the foldable laptop to open.",
+    "Pull the lid of the laptop with folding lid upward.",
+    "Raise the orange laptop using the left arm firmly.",
+    "Pull open the rectangular laptop with orange body",
+    "Raise the plastic orange laptop with metal parts's top section.",
+    "Pull the thin portable laptop open with the left arm.",
+    "Carefully open the hinged screen laptop using the left arm",
+    "Lift the foldable laptop open with the left arm.",
+    "Raise the laptop with blue screen using the left arm.",
+    "Use the left arm to lift the laptop with blue screen",
+    "Lift and open the thin portable laptop.",
+    "Open the blue screen foldable laptop carefully with the left arm.",
+    "Raise the laptop with blue screen using the left arm.",
+    "Fully lift the laptop with folding lid using the left arm.",
+    "Use the left arm to open the laptop with blue screen.",
+    "Lift the laptop with black hinge area to open it up",
+    "Raise and open the plastic orange laptop with metal parts.",
+    "With the left arm, open the orange laptop's lid.",
+    "Use the left arm to open the rectangular laptop with orange body.",
+    "Gently raise the hinged screen laptop using the left arm.",
+    "Raise the top of the thin portable laptop",
+    "Lift the foldable laptop's lid upwards.",
+    "Open the thin portable laptop entirely.",
+    "Open the thin portable laptop completely.",
+    "Lift the blue screen portable laptop lid completely.",
+    "Gently open the blue screen portable laptop upward.",
+    "Pull the screen of the orange laptop.",
+    "Gently lift the blue screen foldable laptop using the left arm",
+    "Use the left arm to open the hinged screen laptop",
+    "Raise the blue screen portable laptop lid using the left arm.",
+    "Pull up the lid of the laptop with black hinge area",
+    "Gently open the orange laptop.",
+    "Push the hinged screen laptop's lid upward using the left arm.",
+    "Use the left arm to raise the blue screen foldable laptop.",
+    "Grip and lift the hinged screen laptop's lid.",
+    "Lift the rectangular laptop with orange body's lid using the left arm.",
+    "Raise the thin portable laptop lid with the left arm.",
+    "Use the left arm to raise the laptop with folding lid.",
+    "Slide the laptop with folding lid open with the left arm.",
+    "Pull the medium rectangular orange laptop upward lightly.",
+    "Open the laptop with blue screen lifting with the left arm",
+    "Fully open the the foldable laptop.",
+    "Use the left arm to open the laptop with blue screen.",
+    "Lift the orange laptop slightly.",
+    "Use the left arm to raise the laptop with folding lid.",
+    "Pull the thin portable laptop's lid upward.",
+    "Raise the thin portable laptop to expose the screen",
+    "Hold the laptop with folding lid steady, lift lid."
+  ],
+  "unseen": [
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the laptop with smooth surfaces using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior carefully using the left arm.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the flat orange laptop using the left arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the flat orange laptop using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Open the flat orange laptop with one motion.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the flat orange laptop using the left arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the flat orange laptop using the left arm.",
+    "Open the flat orange laptop with care",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the laptop with smooth surfaces using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior carefully using the left arm.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Open the flat orange laptop with care",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Lift the flat orange laptop's lid fully.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the flat orange laptop using the left arm",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the flat orange laptop using the left arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the flat orange laptop using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Open the flat orange laptop with one motion.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the flat orange laptop using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Open the laptop with smooth surfaces with care"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode7.json b/open_laptop/demo_clean/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed2da25ad805044669db734cd4f079486a3aa9a4
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to open the portable folding Toshiba laptop.",
+    "Gently open the medium black rectangular laptop.",
+    "Raise the sleek black Toshiba computing laptop using the left arm.",
+    "Use the left arm to open the black laptop with hinge mechanism",
+    "Raise the black laptop with smooth matte surface using the left arm.",
+    "Grip and lift the sleek black Toshiba computing laptop's lid.",
+    "Pull the medium black rectangular laptop open with the left arm.",
+    "Raise the lid of the foldable black laptop.",
+    "Pull the lid of the black laptop with red Toshiba logo upward.",
+    "Use the left arm to raise the sleek black Toshiba computing laptop.",
+    "Pull up the lid of the medium black rectangular laptop",
+    "Open the black laptop by lifting its lid.",
+    "Lift the Toshiba laptop with rectangular screen to open.",
+    "Push the portable folding Toshiba laptop's lid upward using the left arm.",
+    "Pull the medium black rectangular laptop's lid upward.",
+    "Raise the black laptop with red Toshiba logo lid using the left arm.",
+    "Open the Toshiba laptop lifting with the left arm",
+    "Raise the Toshiba laptop to expose the screen",
+    "Use the left arm to open the portable folding Toshiba laptop.",
+    "Lift the portable folding Toshiba laptop to open it up",
+    "Lift the folding laptop with screen and keyboard's lid using the left arm.",
+    "Gently open the medium black rectangular laptop upward.",
+    "Use the left arm to raise the foldable black laptop.",
+    "Raise the top of the foldable black laptop",
+    "Gently raise the Toshiba laptop using the left arm.",
+    "Fully open the the medium black rectangular laptop.",
+    "Slide the portable folding Toshiba laptop open with the left arm.",
+    "Raise the sleek black Toshiba computing laptop's top section.",
+    "Lift and open the black laptop with red text underneath.",
+    "Open the folding laptop with screen and keyboard carefully with the left arm.",
+    "Raise and open the sleek black Toshiba computing laptop.",
+    "Raise the black laptop with hinge mechanism using the left arm firmly.",
+    "Pull open the Toshiba laptop",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Lift the portable folding Toshiba laptop lid completely.",
+    "Pull the Toshiba laptop upward lightly.",
+    "With the left arm, open the foldable black laptop's lid.",
+    "Lift the Toshiba laptop with rectangular screen's lid upwards.",
+    "Fully lift the Toshiba laptop using the left arm.",
+    "Gently lift the black laptop with hinge mechanism using the left arm",
+    "Open the Toshiba laptop with rectangular screen completely.",
+    "Use the left arm to lift the sleek black Toshiba computing laptop",
+    "Pull the screen of the black laptop with hinge mechanism.",
+    "Raise the Toshiba laptop with rectangular screen lid with the left arm.",
+    "Open the foldable black laptop entirely.",
+    "Lift the black laptop with red Toshiba logo open with the left arm.",
+    "Use the left arm to raise the foldable black laptop.",
+    "Carefully open the black laptop with red Toshiba logo using the left arm",
+    "Use the left arm to open the black laptop.",
+    "Hold the black laptop with red text underneath steady, lift lid.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Gently open the black laptop.",
+    "Raise the sleek black Toshiba computing laptop using the left arm.",
+    "Use the left arm to open the black laptop",
+    "Raise the black laptop with smooth matte surface using the left arm.",
+    "Grip and lift the Toshiba laptop's lid.",
+    "Pull the medium black rectangular laptop open with the left arm.",
+    "Raise the lid of the Toshiba laptop.",
+    "Pull the lid of the black laptop upward.",
+    "Use the left arm to raise the black laptop with smooth matte surface.",
+    "Pull up the lid of the black laptop with red text underneath",
+    "Open the black laptop with hinge mechanism by lifting its lid.",
+    "Lift the portable folding Toshiba laptop to open.",
+    "Push the portable folding Toshiba laptop's lid upward using the left arm.",
+    "Pull the Toshiba laptop's lid upward.",
+    "Raise the Toshiba laptop with rectangular screen lid using the left arm.",
+    "Open the black laptop with red text underneath lifting with the left arm",
+    "Raise the Toshiba laptop to expose the screen",
+    "Use the left arm to open the medium black rectangular laptop.",
+    "Lift the sleek black Toshiba computing laptop to open it up",
+    "Lift the black laptop with red text underneath's lid using the left arm.",
+    "Gently open the black laptop with hinge mechanism upward.",
+    "Use the left arm to raise the Toshiba laptop with rectangular screen.",
+    "Raise the top of the Toshiba laptop",
+    "Gently raise the black laptop with red text underneath using the left arm.",
+    "Fully open the the sleek black Toshiba computing laptop.",
+    "Slide the portable folding Toshiba laptop open with the left arm.",
+    "Raise the black laptop with smooth matte surface's top section.",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Open the medium black rectangular laptop carefully with the left arm.",
+    "Raise and open the medium black rectangular laptop.",
+    "Raise the Toshiba laptop with rectangular screen using the left arm firmly.",
+    "Pull open the foldable black laptop",
+    "Lift the black laptop with smooth matte surface slightly.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Pull the sleek black Toshiba computing laptop upward lightly.",
+    "With the left arm, open the black laptop with smooth matte surface's lid.",
+    "Lift the black laptop with red text underneath's lid upwards.",
+    "Fully lift the Toshiba laptop using the left arm.",
+    "Gently lift the black laptop using the left arm",
+    "Open the foldable black laptop completely.",
+    "Use the left arm to lift the folding laptop with screen and keyboard",
+    "Pull the screen of the black laptop with red Toshiba logo.",
+    "Raise the black laptop with hinge mechanism lid with the left arm.",
+    "Open the medium black rectangular laptop entirely.",
+    "Lift the portable folding Toshiba laptop open with the left arm.",
+    "Use the left arm to raise the foldable black laptop.",
+    "Carefully open the portable folding Toshiba laptop using the left arm",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Hold the sleek black Toshiba computing laptop steady, lift lid."
+  ],
+  "unseen": [
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Lift the black laptop fitting laptop bags's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode70.json b/open_laptop/demo_clean/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f0f1c5e5cac43f5bf785236b3c73908b0345350
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the rectangular laptop with foldable hinge using the right arm.",
+    "Use the right arm to open the medium-sized laptop for work.",
+    "Fully open the the blue bottom foldable black laptop.",
+    "Raise the top of the black laptop with blue bottom panel",
+    "Use the right arm to raise the laptop for browsing and computing.",
+    "Use the right arm to open the foldable laptop with screen",
+    "Use the right arm to raise the black laptop with sharp rectangular edges.",
+    "Use the right arm to raise the compact black laptop.",
+    "Pull the screen of the medium-sized laptop for work.",
+    "Open the medium-sized laptop for work by lifting its lid.",
+    "Lift the portable laptop lid completely.",
+    "Hold the rectangular laptop with foldable hinge steady, lift lid.",
+    "Grip and lift the rectangular laptop with foldable hinge's lid.",
+    "Raise the laptop for browsing and computing to expose the screen",
+    "Carefully open the blue bottom foldable black laptop using the right arm",
+    "Raise the black-and-blue laptop with keyboard using the right arm firmly.",
+    "Lift the rectangular laptop with foldable hinge to open.",
+    "Pull the lid of the compact black laptop upward.",
+    "Pull up the lid of the blue bottom foldable black laptop",
+    "Push the blue-black laptop's lid upward using the right arm.",
+    "Raise the medium-sized laptop for work lid with the right arm.",
+    "Use the right arm to open the black laptop with blue bottom panel.",
+    "Pull the blue bottom foldable black laptop upward lightly.",
+    "Use the right arm to open the compact black laptop.",
+    "Raise the laptop for browsing and computing using the right arm.",
+    "Raise the lid of the blue base black lid laptop.",
+    "Gently open the black laptop with sharp rectangular edges upward.",
+    "Pull open the black laptop with blue bottom panel",
+    "Pull the black-and-blue laptop with keyboard open with the right arm.",
+    "Open the black laptop with sharp rectangular edges entirely.",
+    "Raise and open the black-and-blue laptop with keyboard.",
+    "Use the right arm to lift the blue base black lid laptop",
+    "Pull the black laptop with blue bottom panel's lid upward.",
+    "Lift the portable laptop to open it up",
+    "Lift the medium-sized laptop for work open with the right arm.",
+    "Slide the blue base black lid laptop open with the right arm.",
+    "Raise the compact black laptop lid using the right arm.",
+    "Lift the black-and-blue laptop with keyboard slightly.",
+    "Gently lift the medium-sized laptop for work using the right arm",
+    "Open the black-and-blue laptop with keyboard carefully with the right arm.",
+    "Open the foldable laptop with screen completely.",
+    "Gently open the blue bottom foldable black laptop.",
+    "Lift and open the blue-black laptop.",
+    "Lift the compact black laptop's lid upwards.",
+    "Open the medium-sized laptop for work lifting with the right arm",
+    "Lift the blue-black laptop's lid using the right arm.",
+    "Fully lift the black laptop with sharp rectangular edges using the right arm.",
+    "Raise the black laptop with sharp rectangular edges's top section.",
+    "Gently raise the black-and-blue laptop with keyboard using the right arm.",
+    "With the right arm, open the medium-sized laptop for work's lid.",
+    "Raise the black-and-blue laptop with keyboard using the right arm.",
+    "Use the right arm to open the compact black laptop.",
+    "Fully open the the portable laptop.",
+    "Raise the top of the blue-black laptop",
+    "Use the right arm to raise the blue bottom foldable black laptop.",
+    "Use the right arm to open the laptop for browsing and computing",
+    "Use the right arm to raise the rectangular laptop with foldable hinge.",
+    "Use the right arm to raise the blue-black laptop.",
+    "Pull the screen of the compact black laptop.",
+    "Open the foldable laptop with screen by lifting its lid.",
+    "Lift the blue bottom foldable black laptop lid completely.",
+    "Hold the black laptop with blue bottom panel steady, lift lid.",
+    "Grip and lift the black laptop with sharp rectangular edges's lid.",
+    "Raise the blue base black lid laptop to expose the screen",
+    "Carefully open the black-and-blue laptop with keyboard using the right arm",
+    "Raise the blue bottom foldable black laptop using the right arm firmly.",
+    "Lift the laptop for browsing and computing to open.",
+    "Pull the lid of the blue base black lid laptop upward.",
+    "Pull up the lid of the foldable laptop with screen",
+    "Push the laptop for browsing and computing's lid upward using the right arm.",
+    "Raise the medium-sized laptop for work lid with the right arm.",
+    "Use the right arm to open the black-and-blue laptop with keyboard.",
+    "Pull the portable laptop upward lightly.",
+    "Use the right arm to open the rectangular laptop with foldable hinge.",
+    "Raise the rectangular laptop with foldable hinge using the right arm.",
+    "Raise the lid of the portable laptop.",
+    "Gently open the portable laptop upward.",
+    "Pull open the blue-black laptop",
+    "Pull the blue base black lid laptop open with the right arm.",
+    "Open the black laptop with blue bottom panel entirely.",
+    "Raise and open the rectangular laptop with foldable hinge.",
+    "Use the right arm to lift the black laptop with sharp rectangular edges",
+    "Pull the black laptop with sharp rectangular edges's lid upward.",
+    "Lift the compact black laptop to open it up",
+    "Lift the laptop for browsing and computing open with the right arm.",
+    "Slide the black laptop with sharp rectangular edges open with the right arm.",
+    "Raise the black-and-blue laptop with keyboard lid using the right arm.",
+    "Lift the blue bottom foldable black laptop slightly.",
+    "Gently lift the rectangular laptop with foldable hinge using the right arm",
+    "Open the black laptop with sharp rectangular edges carefully with the right arm.",
+    "Open the black-and-blue laptop with keyboard completely.",
+    "Gently open the foldable laptop with screen.",
+    "Lift and open the compact black laptop.",
+    "Lift the black-and-blue laptop with keyboard's lid upwards.",
+    "Open the blue-black laptop lifting with the right arm",
+    "Lift the rectangular laptop with foldable hinge's lid using the right arm.",
+    "Fully lift the foldable laptop with screen using the right arm.",
+    "Raise the blue bottom foldable black laptop's top section.",
+    "Gently raise the black laptop with blue bottom panel using the right arm.",
+    "With the right arm, open the rectangular laptop with foldable hinge's lid."
+  ],
+  "unseen": [
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the black laptop using the right arm",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Pull up the black laptop's lid.",
+    "Grab the black laptop and open it.",
+    "Open the black laptop with care",
+    "Open the black laptop with one motion.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Lift the black laptop using the right arm.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Grab the black laptop and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the black laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the black laptop carefully using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the black laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the black laptop carefully using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the black laptop with care",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the black laptop carefully using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the black laptop carefully using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the smooth black plastic laptop with care",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Pull up the black laptop's lid.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the black laptop with care",
+    "Open the black laptop with one motion.",
+    "Lift the black laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Open the black laptop carefully using the right arm.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the smooth black plastic laptop with care",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the black laptop's lid fully.",
+    "Lift the black laptop using the right arm",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Lift the black laptop's lid gently.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the black laptop with care",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Open the black laptop carefully using the right arm.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Pull up the black laptop's lid.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the smooth black plastic laptop with care",
+    "Open the laptop with display and keyboard with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode71.json b/open_laptop/demo_clean/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..0109f90604750b964af0d73aff658a86c76c1158
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the black laptop with smooth matte surface to expose the screen",
+    "Gently open the foldable black laptop upward.",
+    "Carefully open the sleek black Toshiba computing laptop using the left arm",
+    "Open the black laptop with red text underneath lifting with the left arm",
+    "Use the left arm to open the foldable black laptop.",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Use the left arm to open the portable folding Toshiba laptop.",
+    "Pull the sleek black Toshiba computing laptop open with the left arm.",
+    "Lift the black laptop slightly.",
+    "Fully lift the black laptop with red Toshiba logo using the left arm.",
+    "Open the black laptop with hinge mechanism entirely.",
+    "Raise the foldable black laptop lid with the left arm.",
+    "Lift the sleek black Toshiba computing laptop to open it up",
+    "Raise the lid of the black laptop with red Toshiba logo.",
+    "Use the left arm to lift the medium black rectangular laptop",
+    "Grip and lift the sleek black Toshiba computing laptop's lid.",
+    "Raise the black laptop with hinge mechanism using the left arm firmly.",
+    "Gently raise the black laptop with smooth matte surface using the left arm.",
+    "Raise the foldable black laptop using the left arm.",
+    "Gently lift the medium black rectangular laptop using the left arm",
+    "Raise and open the medium black rectangular laptop.",
+    "Slide the black laptop with hinge mechanism open with the left arm.",
+    "Raise the top of the Toshiba laptop with rectangular screen",
+    "Gently open the Toshiba laptop.",
+    "Hold the black laptop steady, lift lid.",
+    "Open the black laptop carefully with the left arm.",
+    "Raise the Toshiba laptop with rectangular screen's top section.",
+    "Lift the black laptop lid completely.",
+    "Use the left arm to open the Toshiba laptop",
+    "Raise the portable folding Toshiba laptop lid using the left arm.",
+    "Use the left arm to raise the black laptop with smooth matte surface.",
+    "Pull the lid of the black laptop with hinge mechanism upward.",
+    "Use the left arm to raise the medium black rectangular laptop.",
+    "Lift the sleek black Toshiba computing laptop to open.",
+    "Lift the black laptop with red Toshiba logo's lid using the left arm.",
+    "Pull the screen of the Toshiba laptop.",
+    "Use the left arm to raise the black laptop with smooth matte surface.",
+    "Pull the black laptop with smooth matte surface upward lightly.",
+    "Push the foldable black laptop's lid upward using the left arm.",
+    "Pull open the black laptop with smooth matte surface",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Lift the portable folding Toshiba laptop's lid upwards.",
+    "With the left arm, open the medium black rectangular laptop's lid.",
+    "Use the left arm to open the foldable black laptop.",
+    "Pull up the lid of the black laptop with hinge mechanism",
+    "Open the portable folding Toshiba laptop completely.",
+    "Raise the black laptop using the left arm.",
+    "Fully open the the black laptop with hinge mechanism.",
+    "Lift the black laptop with red text underneath open with the left arm.",
+    "Open the black laptop with smooth matte surface by lifting its lid.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Gently open the medium black rectangular laptop upward.",
+    "Carefully open the sleek black Toshiba computing laptop using the left arm",
+    "Open the portable folding Toshiba laptop lifting with the left arm",
+    "Use the left arm to open the black laptop with smooth matte surface.",
+    "Lift and open the Toshiba laptop.",
+    "Use the left arm to open the black laptop with hinge mechanism.",
+    "Pull the portable folding Toshiba laptop open with the left arm.",
+    "Lift the foldable black laptop slightly.",
+    "Fully lift the Toshiba laptop with rectangular screen using the left arm.",
+    "Open the medium black rectangular laptop entirely.",
+    "Raise the black laptop with hinge mechanism lid with the left arm.",
+    "Lift the black laptop to open it up",
+    "Raise the lid of the black laptop with hinge mechanism.",
+    "Use the left arm to lift the portable folding Toshiba laptop",
+    "Grip and lift the Toshiba laptop's lid.",
+    "Raise the foldable black laptop using the left arm firmly.",
+    "Gently raise the sleek black Toshiba computing laptop using the left arm.",
+    "Raise the Toshiba laptop using the left arm.",
+    "Gently lift the black laptop with red text underneath using the left arm",
+    "Raise and open the black laptop with smooth matte surface.",
+    "Slide the medium black rectangular laptop open with the left arm.",
+    "Raise the top of the black laptop with red Toshiba logo",
+    "Gently open the black laptop with smooth matte surface.",
+    "Hold the black laptop with red Toshiba logo steady, lift lid.",
+    "Open the portable folding Toshiba laptop carefully with the left arm.",
+    "Raise the black laptop's top section.",
+    "Lift the black laptop with hinge mechanism lid completely.",
+    "Use the left arm to open the black laptop",
+    "Raise the folding laptop with screen and keyboard lid using the left arm.",
+    "Use the left arm to raise the Toshiba laptop with rectangular screen.",
+    "Pull the lid of the folding laptop with screen and keyboard upward.",
+    "Use the left arm to raise the black laptop with hinge mechanism.",
+    "Lift the portable folding Toshiba laptop to open.",
+    "Lift the black laptop with red text underneath's lid using the left arm.",
+    "Pull the screen of the Toshiba laptop with rectangular screen.",
+    "Use the left arm to raise the black laptop with red Toshiba logo.",
+    "Pull the black laptop with red text underneath upward lightly.",
+    "Push the black laptop with smooth matte surface's lid upward using the left arm.",
+    "Pull open the black laptop with smooth matte surface",
+    "Pull the black laptop with smooth matte surface's lid upward.",
+    "Lift the black laptop with smooth matte surface's lid upwards.",
+    "With the left arm, open the sleek black Toshiba computing laptop's lid.",
+    "Use the left arm to open the black laptop with smooth matte surface.",
+    "Pull up the lid of the medium black rectangular laptop",
+    "Open the foldable black laptop completely.",
+    "Raise the black laptop with hinge mechanism using the left arm.",
+    "Fully open the the black laptop with hinge mechanism.",
+    "Lift the foldable black laptop open with the left arm.",
+    "Open the medium black rectangular laptop by lifting its lid."
+  ],
+  "unseen": [
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the black laptop slightly rounded at edges's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode72.json b/open_laptop/demo_clean/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..c861911b8e988654b765605a4ffdc085f2b48c17
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, open the laptop with screen and keyboard's lid.",
+    "Raise the black laptop lid with the left arm.",
+    "Pull up the lid of the laptop featuring textured exterior",
+    "Lift the sleek laptop design's lid using the left arm.",
+    "Raise the lid of the sleek laptop design.",
+    "Use the left arm to raise the laptop with screen and keyboard.",
+    "Use the left arm to open the black laptop with red accents",
+    "Fully open the the laptop with red logo underside.",
+    "Gently raise the black laptop with red accents using the left arm.",
+    "Lift the hinged laptop with screen and base to open.",
+    "Gently open the black laptop with red accents upward.",
+    "Raise the lightweight laptop using the left arm.",
+    "Open the compact black laptop carefully with the left arm.",
+    "Slide the lightweight laptop open with the left arm.",
+    "Raise the top of the hinged laptop with screen and base",
+    "Raise the laptop with screen and keyboard to expose the screen",
+    "Lift the hinged laptop with screen and base slightly.",
+    "Lift the medium-sized laptop with black body's lid upwards.",
+    "Open the hinged laptop with screen and base completely.",
+    "Use the left arm to lift the hinged laptop with screen and base",
+    "Hold the black metallic laptop steady, lift lid.",
+    "Carefully open the laptop with red logo underside using the left arm",
+    "Raise the medium-sized laptop with black body using the left arm.",
+    "Use the left arm to open the black metallic laptop.",
+    "Use the left arm to raise the black laptop.",
+    "Lift the laptop with screen and keyboard to open it up",
+    "Raise the hinged laptop with screen and base lid using the left arm.",
+    "Pull the laptop featuring textured exterior's lid upward.",
+    "Use the left arm to raise the lightweight laptop.",
+    "Gently lift the sleek laptop design using the left arm",
+    "Raise the laptop with screen and keyboard's top section.",
+    "Lift the hinged laptop with screen and base lid completely.",
+    "Use the left arm to open the hinged laptop with screen and base.",
+    "Push the laptop with screen and keyboard's lid upward using the left arm.",
+    "Raise and open the laptop with red logo underside.",
+    "Fully lift the black metallic laptop using the left arm.",
+    "Lift the laptop with screen and keyboard open with the left arm.",
+    "Pull the screen of the compact black laptop.",
+    "Gently open the laptop with screen and keyboard.",
+    "Pull open the medium-sized laptop with black body",
+    "Open the laptop with screen and keyboard entirely.",
+    "Open the black laptop with red accents by lifting its lid.",
+    "Open the laptop featuring textured exterior lifting with the left arm",
+    "Grip and lift the laptop with red logo underside's lid.",
+    "Pull the hinged laptop with screen and base upward lightly.",
+    "Raise the laptop with screen and keyboard using the left arm firmly.",
+    "Pull the lid of the black metallic laptop upward.",
+    "Pull the laptop featuring textured exterior open with the left arm.",
+    "Lift and open the compact black laptop.",
+    "Use the left arm to open the laptop with screen and keyboard.",
+    "With the left arm, open the laptop with screen and keyboard's lid.",
+    "Raise the medium-sized laptop with black body lid with the left arm.",
+    "Pull up the lid of the medium-sized laptop with black body",
+    "Lift the black laptop's lid using the left arm.",
+    "Raise the lid of the black metallic laptop.",
+    "Use the left arm to raise the black laptop with red accents.",
+    "Use the left arm to open the black laptop",
+    "Fully open the the laptop with screen and keyboard.",
+    "Gently raise the black laptop with red accents using the left arm.",
+    "Lift the laptop with red logo underside to open.",
+    "Gently open the black laptop with red accents upward.",
+    "Raise the laptop with screen and keyboard using the left arm.",
+    "Open the medium-sized laptop with black body carefully with the left arm.",
+    "Slide the laptop featuring textured exterior open with the left arm.",
+    "Raise the top of the laptop with red logo underside",
+    "Raise the sleek laptop design to expose the screen",
+    "Lift the black laptop slightly.",
+    "Lift the compact black laptop's lid upwards.",
+    "Open the black laptop with red accents completely.",
+    "Use the left arm to lift the compact black laptop",
+    "Hold the black metallic laptop steady, lift lid.",
+    "Carefully open the black laptop with red accents using the left arm",
+    "Raise the sleek laptop design using the left arm.",
+    "Use the left arm to open the lightweight laptop.",
+    "Use the left arm to raise the foldable laptop with patterned keyboard.",
+    "Lift the laptop with screen and keyboard to open it up",
+    "Raise the medium-sized laptop with black body lid using the left arm.",
+    "Pull the laptop with red logo underside's lid upward.",
+    "Use the left arm to raise the sleek laptop design.",
+    "Gently lift the compact black laptop using the left arm",
+    "Raise the laptop with screen and keyboard's top section.",
+    "Lift the laptop with screen and keyboard lid completely.",
+    "Use the left arm to open the laptop with screen and keyboard.",
+    "Push the sleek laptop design's lid upward using the left arm.",
+    "Raise and open the medium-sized laptop with black body.",
+    "Fully lift the laptop with screen and keyboard using the left arm.",
+    "Lift the lightweight laptop open with the left arm.",
+    "Pull the screen of the black laptop.",
+    "Gently open the medium-sized laptop with black body.",
+    "Pull open the sleek laptop design",
+    "Open the lightweight laptop entirely.",
+    "Open the black laptop by lifting its lid.",
+    "Open the laptop with red logo underside lifting with the left arm",
+    "Grip and lift the black laptop with red accents's lid.",
+    "Pull the lightweight laptop upward lightly.",
+    "Raise the laptop with red logo underside using the left arm firmly.",
+    "Pull the lid of the laptop with screen and keyboard upward.",
+    "Pull the compact black laptop open with the left arm.",
+    "Lift and open the laptop with screen and keyboard.",
+    "Use the left arm to open the foldable laptop with patterned keyboard."
+  ],
+  "unseen": [
+    "Open the portable laptop with one motion.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the left arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the left arm",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop using the left arm",
+    "Pull up the portable laptop's lid.",
+    "Grab the portable laptop and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Open the portable laptop using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop using the left arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop using the left arm",
+    "Pull up the portable laptop's lid.",
+    "Grab the portable laptop and open it.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop using the left arm",
+    "Pull up the portable laptop's lid.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop using the left arm",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop using the left arm.",
+    "Lift the portable laptop's lid fully.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop using the left arm",
+    "Pull up the portable laptop's lid.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Open the portable laptop using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Grab the portable laptop and open it.",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop carefully using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode73.json b/open_laptop/demo_clean/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..46c5fbc4ff1eca7d3038ff51fa30d358109b8b3b
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the medium-sized black portable laptop's lid upward.",
+    "Lift the black laptop with visible hinge's lid using the right arm.",
+    "Open the laptop for typing and computing entirely.",
+    "Hold the medium-sized black portable laptop steady, lift lid.",
+    "Open the black laptop with metallic edges completely.",
+    "Fully open the the black laptop.",
+    "Raise the top of the portable black laptop with textured casing",
+    "Pull the black laptop with visible hinge open with the right arm.",
+    "Lift and open the laptop featuring black base and hinged screen.",
+    "Raise and open the portable black laptop with textured casing.",
+    "Gently raise the black laptop with Saturn image on screen using the right arm.",
+    "Lift the smooth laptop with Windows logo underneath lid completely.",
+    "Lift the smooth laptop with Windows logo underneath to open.",
+    "Carefully open the black laptop using the right arm",
+    "Lift the portable black laptop with textured casing open with the right arm.",
+    "Use the right arm to raise the black laptop with metallic edges.",
+    "Pull the lid of the black laptop with Saturn image on screen upward.",
+    "Grip and lift the laptop with glossy screen's lid.",
+    "Raise the medium-sized black portable laptop's top section.",
+    "Raise the laptop for typing and computing using the right arm firmly.",
+    "Gently open the laptop with glossy screen upward.",
+    "Use the right arm to open the laptop with glossy screen.",
+    "Use the right arm to raise the smooth laptop with Windows logo underneath.",
+    "Raise the laptop for typing and computing to expose the screen",
+    "Slide the black laptop with shiny display panel open with the right arm.",
+    "Raise the black laptop with metallic edges lid using the right arm.",
+    "Lift the laptop with flat black keyboard slightly.",
+    "Pull open the black laptop with metallic edges",
+    "Raise the black laptop with shiny display panel using the right arm.",
+    "Raise the lid of the smooth laptop with Windows logo underneath.",
+    "Pull the screen of the portable black laptop with textured casing.",
+    "Open the black laptop with visible hinge carefully with the right arm.",
+    "Lift the black laptop with Saturn image on screen to open it up",
+    "Open the laptop featuring black base and hinged screen by lifting its lid.",
+    "Raise the portable black laptop with textured casing using the right arm.",
+    "Raise the black laptop with metallic edges lid with the right arm.",
+    "Use the right arm to raise the laptop with flat black keyboard.",
+    "Use the right arm to open the laptop with glossy screen.",
+    "Open the black laptop with visible hinge lifting with the right arm",
+    "Gently lift the black laptop using the right arm",
+    "Push the medium-sized black portable laptop's lid upward using the right arm.",
+    "Use the right arm to open the laptop with glossy screen.",
+    "Lift the laptop featuring black base and hinged screen's lid upwards.",
+    "Use the right arm to lift the smooth laptop with Windows logo underneath",
+    "With the right arm, open the laptop with glossy screen's lid.",
+    "Use the right arm to open the black laptop with visible hinge",
+    "Fully lift the laptop for typing and computing using the right arm.",
+    "Gently open the black laptop.",
+    "Pull the medium-sized black portable laptop upward lightly.",
+    "Pull up the lid of the black laptop with shiny display panel",
+    "Pull the smooth laptop with Windows logo underneath's lid upward.",
+    "Lift the black laptop with visible hinge's lid using the right arm.",
+    "Open the black laptop with metallic edges entirely.",
+    "Hold the medium-sized black portable laptop steady, lift lid.",
+    "Open the smooth laptop with Windows logo underneath completely.",
+    "Fully open the the black laptop with visible hinge.",
+    "Raise the top of the laptop with flat black keyboard",
+    "Pull the black laptop with Saturn image on screen open with the right arm.",
+    "Lift and open the smooth laptop with Windows logo underneath.",
+    "Raise and open the medium-sized black portable laptop.",
+    "Gently raise the laptop with flat black keyboard using the right arm.",
+    "Lift the black laptop with shiny display panel lid completely.",
+    "Lift the black laptop to open.",
+    "Carefully open the laptop featuring black base and hinged screen using the right arm",
+    "Lift the black laptop with visible hinge open with the right arm.",
+    "Use the right arm to raise the laptop with glossy screen.",
+    "Pull the lid of the black laptop with shiny display panel upward.",
+    "Grip and lift the medium-sized black portable laptop's lid.",
+    "Raise the black laptop with visible hinge's top section.",
+    "Raise the black laptop with Saturn image on screen using the right arm firmly.",
+    "Gently open the smooth laptop with Windows logo underneath upward.",
+    "Use the right arm to open the laptop for typing and computing.",
+    "Use the right arm to raise the portable black laptop with textured casing.",
+    "Raise the black laptop to expose the screen",
+    "Slide the laptop for typing and computing open with the right arm.",
+    "Raise the laptop with glossy screen lid using the right arm.",
+    "Lift the black laptop with metallic edges slightly.",
+    "Pull open the black laptop with visible hinge",
+    "Raise the medium-sized black portable laptop using the right arm.",
+    "Raise the lid of the smooth laptop with Windows logo underneath.",
+    "Pull the screen of the laptop with glossy screen.",
+    "Open the smooth laptop with Windows logo underneath carefully with the right arm.",
+    "Lift the laptop with glossy screen to open it up",
+    "Open the black laptop with Saturn image on screen by lifting its lid.",
+    "Raise the laptop with flat black keyboard using the right arm.",
+    "Raise the black laptop with shiny display panel lid with the right arm.",
+    "Use the right arm to raise the portable black laptop with textured casing.",
+    "Use the right arm to open the laptop with glossy screen.",
+    "Open the black laptop with metallic edges lifting with the right arm",
+    "Gently lift the black laptop with shiny display panel using the right arm",
+    "Push the laptop featuring black base and hinged screen's lid upward using the right arm.",
+    "Use the right arm to open the black laptop with shiny display panel.",
+    "Lift the black laptop's lid upwards.",
+    "Use the right arm to lift the black laptop with metallic edges",
+    "With the right arm, open the black laptop with shiny display panel's lid.",
+    "Use the right arm to open the medium-sized black portable laptop",
+    "Fully lift the black laptop with shiny display panel using the right arm.",
+    "Gently open the laptop with glossy screen.",
+    "Pull the black laptop with Saturn image on screen upward lightly.",
+    "Pull up the lid of the black laptop with shiny display panel"
+  ],
+  "unseen": [
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Open the thin rectangular laptop with care",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Pull up the laptop with colorful screen's lid.",
+    "Open the laptop with colorful screen with one motion.",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Open the laptop with colorful screen with care",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Pull up the thin rectangular laptop's lid.",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Grab the thin rectangular laptop and open it.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Open the thin rectangular laptop with one motion.",
+    "Grab the laptop with colorful screen and open it.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Open the thin rectangular laptop with care",
+    "Lift the laptop with colorful screen's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode74.json b/open_laptop/demo_clean/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c738c825f6bc714647495f212cb65e7284251e
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the folding laptop with screen and keyboard entirely.",
+    "Use the left arm to raise the portable folding Toshiba laptop.",
+    "Lift the Toshiba laptop to open it up",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Pull the screen of the black laptop with red Toshiba logo.",
+    "With the left arm, open the portable folding Toshiba laptop's lid.",
+    "Push the folding laptop with screen and keyboard's lid upward using the left arm.",
+    "Use the left arm to raise the Toshiba laptop.",
+    "Pull up the lid of the black laptop with smooth matte surface",
+    "Lift the black laptop with hinge mechanism's lid upwards.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Pull the black laptop with red text underneath's lid upward.",
+    "Raise the foldable black laptop's top section.",
+    "Open the black laptop with red text underneath carefully with the left arm.",
+    "Raise the black laptop with hinge mechanism to expose the screen",
+    "Use the left arm to open the medium black rectangular laptop",
+    "Lift the black laptop with hinge mechanism to open.",
+    "Raise and open the black laptop with red text underneath.",
+    "Raise the top of the black laptop with red Toshiba logo",
+    "Fully lift the folding laptop with screen and keyboard using the left arm.",
+    "Pull the lid of the Toshiba laptop upward.",
+    "Slide the Toshiba laptop open with the left arm.",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Lift the sleek black Toshiba computing laptop's lid using the left arm.",
+    "Gently raise the black laptop with red Toshiba logo using the left arm.",
+    "Lift and open the medium black rectangular laptop.",
+    "Pull the portable folding Toshiba laptop upward lightly.",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Raise the foldable black laptop lid with the left arm.",
+    "Fully open the the Toshiba laptop.",
+    "Open the Toshiba laptop with rectangular screen completely.",
+    "Lift the Toshiba laptop lid completely.",
+    "Pull the Toshiba laptop open with the left arm.",
+    "Carefully open the black laptop with red text underneath using the left arm",
+    "Use the left arm to lift the medium black rectangular laptop",
+    "Raise the black laptop with red Toshiba logo using the left arm.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Raise the lid of the black laptop with smooth matte surface.",
+    "Use the left arm to raise the black laptop with red text underneath.",
+    "Gently open the black laptop with smooth matte surface.",
+    "Hold the medium black rectangular laptop steady, lift lid.",
+    "Pull open the black laptop with smooth matte surface",
+    "Lift the black laptop with red text underneath open with the left arm.",
+    "Open the sleek black Toshiba computing laptop lifting with the left arm",
+    "Gently lift the black laptop using the left arm",
+    "Gently open the medium black rectangular laptop upward.",
+    "Grip and lift the sleek black Toshiba computing laptop's lid.",
+    "Raise the black laptop using the left arm firmly.",
+    "Raise the black laptop using the left arm.",
+    "Raise the black laptop lid using the left arm.",
+    "Open the Toshiba laptop entirely.",
+    "Use the left arm to raise the foldable black laptop.",
+    "Lift the Toshiba laptop to open it up",
+    "Use the left arm to open the medium black rectangular laptop.",
+    "Pull the screen of the black laptop with red text underneath.",
+    "With the left arm, open the Toshiba laptop with rectangular screen's lid.",
+    "Push the black laptop with smooth matte surface's lid upward using the left arm.",
+    "Use the left arm to raise the portable folding Toshiba laptop.",
+    "Pull up the lid of the portable folding Toshiba laptop",
+    "Lift the black laptop with red text underneath's lid upwards.",
+    "Use the left arm to open the Toshiba laptop.",
+    "Pull the medium black rectangular laptop's lid upward.",
+    "Raise the black laptop with red text underneath's top section.",
+    "Open the foldable black laptop carefully with the left arm.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Use the left arm to open the Toshiba laptop",
+    "Lift the medium black rectangular laptop to open.",
+    "Raise and open the Toshiba laptop.",
+    "Raise the top of the black laptop",
+    "Fully lift the black laptop using the left arm.",
+    "Pull the lid of the sleek black Toshiba computing laptop upward.",
+    "Slide the medium black rectangular laptop open with the left arm.",
+    "Lift the black laptop with red Toshiba logo slightly.",
+    "Lift the black laptop with smooth matte surface's lid using the left arm.",
+    "Gently raise the Toshiba laptop using the left arm.",
+    "Lift and open the black laptop with smooth matte surface.",
+    "Pull the foldable black laptop upward lightly.",
+    "Open the medium black rectangular laptop by lifting its lid.",
+    "Raise the sleek black Toshiba computing laptop lid with the left arm.",
+    "Fully open the the black laptop with red Toshiba logo.",
+    "Open the black laptop with smooth matte surface completely.",
+    "Lift the black laptop with red Toshiba logo lid completely.",
+    "Pull the black laptop with red Toshiba logo open with the left arm.",
+    "Carefully open the portable folding Toshiba laptop using the left arm",
+    "Use the left arm to lift the foldable black laptop",
+    "Raise the sleek black Toshiba computing laptop using the left arm.",
+    "Use the left arm to open the Toshiba laptop.",
+    "Raise the lid of the black laptop with smooth matte surface.",
+    "Use the left arm to raise the portable folding Toshiba laptop.",
+    "Gently open the black laptop with hinge mechanism.",
+    "Hold the black laptop with red Toshiba logo steady, lift lid.",
+    "Pull open the black laptop with smooth matte surface",
+    "Lift the Toshiba laptop open with the left arm.",
+    "Open the Toshiba laptop with rectangular screen lifting with the left arm",
+    "Gently lift the foldable black laptop using the left arm",
+    "Gently open the foldable black laptop upward.",
+    "Grip and lift the black laptop with hinge mechanism's lid.",
+    "Raise the black laptop with hinge mechanism using the left arm firmly.",
+    "Raise the foldable black laptop using the left arm.",
+    "Raise the black laptop with red Toshiba logo lid using the left arm."
+  ],
+  "unseen": [
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop fitting laptop bags with care",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the medium-sized laptop for portable use with care",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the medium-sized laptop for portable use with care",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop fitting laptop bags with care",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the medium-sized laptop for portable use with care",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Open the black laptop fitting laptop bags with care",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the medium-sized laptop for portable use with care",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the medium-sized laptop for portable use with care",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode75.json b/open_laptop/demo_clean/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ad8979054fb0ab56b24d725752f3bc8cf662b1f
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift and open the rectangular laptop with Toshiba logo.",
+    "Carefully open the black and silver laptop using the right arm",
+    "Open the medium-sized laptop lifting with the right arm",
+    "Use the right arm to open the black laptop with reflective screen",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Raise the matte laptop with smooth screen using the right arm firmly.",
+    "Raise and open the matte laptop with smooth screen.",
+    "With the right arm, open the medium-sized laptop's lid.",
+    "Gently lift the medium-sized laptop using the right arm",
+    "Pull open the portable folding laptop",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Raise the lid of the matte laptop with smooth screen.",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Raise the top of the rectangular laptop with Toshiba logo",
+    "Lift the medium-sized laptop to open.",
+    "Grip and lift the portable folding laptop's lid.",
+    "Open the black laptop with reflective screen entirely.",
+    "Slide the black and silver laptop open with the right arm.",
+    "Raise the black and silver laptop using the right arm.",
+    "Open the laptop with silver keyboard completely.",
+    "Pull the portable folding laptop open with the right arm.",
+    "Raise the rectangular laptop with Toshiba logo to expose the screen",
+    "Fully lift the folding laptop with screen and keyboard using the right arm.",
+    "Gently open the compact black and silver computer.",
+    "Use the right arm to lift the portable folding laptop",
+    "Lift the black and silver laptop lid completely.",
+    "Raise the portable folding laptop lid with the right arm.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Pull up the lid of the medium-sized laptop",
+    "Gently open the silver keyboard laptop upward.",
+    "Open the rectangular laptop with Toshiba logo carefully with the right arm.",
+    "Gently raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Lift the compact black and silver computer's lid using the right arm.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Raise the black laptop with reflective screen lid using the right arm.",
+    "Use the right arm to open the black and silver laptop.",
+    "Pull the device with flat keyboard and screen upward lightly.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Fully open the the silver keyboard laptop.",
+    "Lift the portable folding laptop slightly.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Push the matte laptop with smooth screen's lid upward using the right arm.",
+    "Lift the compact black and silver computer open with the right arm.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Lift the device with flat keyboard and screen's lid upwards.",
+    "Lift and open the portable folding laptop.",
+    "Carefully open the rectangular laptop with Toshiba logo using the right arm",
+    "Open the black laptop with reflective screen lifting with the right arm",
+    "Use the right arm to open the compact black and silver computer",
+    "Use the right arm to open the compact black and silver computer.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm firmly.",
+    "Raise and open the compact black and silver computer.",
+    "With the right arm, open the matte laptop with smooth screen's lid.",
+    "Gently lift the matte laptop with smooth screen using the right arm",
+    "Pull open the compact black and silver computer",
+    "Use the right arm to raise the portable folding laptop.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Raise the lid of the rectangular laptop with Toshiba logo.",
+    "Pull the screen of the rectangular laptop with Toshiba logo.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Raise the top of the portable folding laptop",
+    "Lift the laptop with silver keyboard to open.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Slide the device with flat keyboard and screen open with the right arm.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Open the device with flat keyboard and screen completely.",
+    "Pull the black laptop with reflective screen open with the right arm.",
+    "Raise the matte laptop with smooth screen to expose the screen",
+    "Fully lift the black laptop with reflective screen using the right arm.",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Use the right arm to lift the device with flat keyboard and screen",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Raise the medium-sized laptop lid with the right arm.",
+    "Pull the lid of the medium-sized laptop upward.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Gently open the laptop with silver keyboard upward.",
+    "Open the laptop with silver keyboard carefully with the right arm.",
+    "Gently raise the Toshiba laptop with folding design using the right arm.",
+    "Lift the folding laptop with screen and keyboard's lid using the right arm.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Raise the silver keyboard laptop lid using the right arm.",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Pull the laptop with silver keyboard upward lightly.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Fully open the the compact black and silver computer.",
+    "Lift the device with flat keyboard and screen slightly.",
+    "Pull the black laptop with reflective screen's lid upward.",
+    "Push the matte laptop with smooth screen's lid upward using the right arm.",
+    "Lift the folding laptop with screen and keyboard open with the right arm.",
+    "Raise the device with flat keyboard and screen's top section.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Lift the medium-sized laptop to open it up",
+    "Lift the matte laptop with smooth screen's lid upwards."
+  ],
+  "unseen": [
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen carefully using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with care",
+    "Open the laptop computer carefully using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with care",
+    "Open the computer with black screen carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode76.json b/open_laptop/demo_clean/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffbf643b81f745fb107535f7c66573efc04fe30d
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently open the clamshell laptop with flat screen upward.",
+    "Open the laptop with wide black lid by lifting its lid.",
+    "Gently raise the laptop with shiny black surface using the right arm.",
+    "Lift the black laptop lid completely.",
+    "Raise the top of the laptop featuring built-in keyboard",
+    "Push the clamshell laptop with flat screen's lid upward using the right arm.",
+    "Hold the rectangular laptop with smooth texture steady, lift lid.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Raise the laptop with silver buttons on keyboard to expose the screen",
+    "With the right arm, open the black laptop's lid.",
+    "Use the right arm to raise the black laptop.",
+    "Raise the laptop with silver buttons on keyboard lid with the right arm.",
+    "Pull the laptop with shiny black surface's lid upward.",
+    "Pull open the clamshell laptop with flat screen",
+    "Lift the clamshell laptop with flat screen open with the right arm.",
+    "Use the right arm to open the rectangular laptop with smooth texture.",
+    "Fully lift the black and silver portable laptop using the right arm.",
+    "Grip and lift the laptop featuring built-in keyboard's lid.",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Lift the black and silver portable laptop to open it up",
+    "Pull up the lid of the black laptop with smooth body",
+    "Pull the rectangular laptop with smooth texture open with the right arm.",
+    "Use the right arm to open the laptop with rectangular display screen",
+    "Gently lift the laptop with shiny black surface using the right arm",
+    "Raise the clamshell laptop with flat screen using the right arm firmly.",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Fully open the the laptop with silver keyboard.",
+    "Open the rectangular laptop with folding hinge lifting with the right arm",
+    "Lift and open the laptop featuring built-in keyboard.",
+    "Raise the laptop with silver buttons on keyboard using the right arm.",
+    "Slide the black laptop open with the right arm.",
+    "Gently open the laptop with shiny black surface.",
+    "Open the black laptop with smooth body entirely.",
+    "Open the laptop with wide black lid carefully with the right arm.",
+    "Raise the lid of the rectangular laptop with smooth texture.",
+    "Lift the clamshell laptop with flat screen slightly.",
+    "Lift the black laptop with smooth body's lid using the right arm.",
+    "Raise the rectangular laptop with folding hinge lid using the right arm.",
+    "Pull the lid of the laptop with silver buttons on keyboard upward.",
+    "Carefully open the rectangular laptop with folding hinge using the right arm",
+    "Raise and open the rectangular laptop with smooth texture.",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Use the right arm to lift the laptop with rectangular display screen",
+    "Pull the screen of the laptop with shiny black surface.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Pull the laptop with wide black lid upward lightly.",
+    "Lift the rectangular laptop with smooth texture to open.",
+    "Raise the rectangular laptop with smooth texture's top section.",
+    "Open the black and silver portable laptop completely.",
+    "Gently open the rectangular laptop with smooth texture upward.",
+    "Open the black and silver portable laptop by lifting its lid.",
+    "Gently raise the laptop with silver keyboard using the right arm.",
+    "Lift the rectangular laptop with smooth texture lid completely.",
+    "Raise the top of the laptop with rectangular display screen",
+    "Push the laptop with shiny black surface's lid upward using the right arm.",
+    "Hold the black laptop with smooth body steady, lift lid.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Raise the laptop with wide black lid to expose the screen",
+    "With the right arm, open the laptop with shiny black surface's lid.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Pull the black laptop's lid upward.",
+    "Pull open the laptop with wide black lid",
+    "Lift the clamshell laptop with flat screen open with the right arm.",
+    "Use the right arm to open the clamshell laptop with flat screen.",
+    "Fully lift the laptop with rectangular display screen using the right arm.",
+    "Grip and lift the clamshell laptop with flat screen's lid.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Lift the black and silver portable laptop to open it up",
+    "Pull up the lid of the laptop with silver buttons on keyboard",
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Use the right arm to open the rectangular laptop with folding hinge",
+    "Gently lift the black laptop using the right arm",
+    "Raise the black laptop using the right arm firmly.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Lift the clamshell laptop with flat screen's lid upwards.",
+    "Fully open the the rectangular laptop with smooth texture.",
+    "Open the laptop with shiny black surface lifting with the right arm",
+    "Lift and open the laptop with shiny black surface.",
+    "Raise the laptop featuring built-in keyboard using the right arm.",
+    "Slide the laptop with wide black lid open with the right arm.",
+    "Gently open the rectangular laptop with smooth texture.",
+    "Open the laptop with shiny black surface entirely.",
+    "Open the laptop with silver keyboard carefully with the right arm.",
+    "Raise the lid of the laptop with silver keyboard.",
+    "Lift the black and silver portable laptop slightly.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Raise the laptop featuring built-in keyboard lid using the right arm.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Carefully open the black laptop with smooth body using the right arm",
+    "Raise and open the black laptop with smooth body.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Use the right arm to lift the rectangular laptop with folding hinge",
+    "Pull the screen of the rectangular laptop with folding hinge.",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Pull the laptop with wide black lid upward lightly.",
+    "Lift the laptop with silver keyboard to open.",
+    "Raise the black laptop with smooth body's top section.",
+    "Open the laptop with silver keyboard completely."
+  ],
+  "unseen": [
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode77.json b/open_laptop/demo_clean/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..f84a501ec43bd2c5420e607cfe43e3d2ac6c7c1b
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully lift the rectangular laptop with foldable hinge using the left arm.",
+    "Pull up the lid of the portable laptop",
+    "Lift the rectangular laptop with foldable hinge's lid upwards.",
+    "Pull the black laptop with sharp rectangular edges upward lightly.",
+    "Open the black laptop with blue bottom panel lifting with the left arm",
+    "Use the left arm to raise the compact black laptop.",
+    "Lift and open the medium-sized laptop for work.",
+    "Lift the black laptop with blue bottom panel open with the left arm.",
+    "Lift the black-and-blue laptop with keyboard lid completely.",
+    "Raise the lid of the blue-black laptop.",
+    "Raise the blue-black laptop using the left arm.",
+    "Grip and lift the blue-black laptop's lid.",
+    "Pull open the blue-black laptop",
+    "Lift the blue bottom foldable black laptop's lid using the left arm.",
+    "Lift the foldable laptop with screen to open.",
+    "Gently open the blue-black laptop upward.",
+    "Open the black-and-blue laptop with keyboard entirely.",
+    "With the left arm, open the rectangular laptop with foldable hinge's lid.",
+    "Push the blue-black laptop's lid upward using the left arm.",
+    "Lift the portable laptop to open it up",
+    "Open the rectangular laptop with foldable hinge by lifting its lid.",
+    "Use the left arm to open the black laptop with blue bottom panel.",
+    "Pull the screen of the black-and-blue laptop with keyboard.",
+    "Raise the black laptop with sharp rectangular edges lid with the left arm.",
+    "Use the left arm to lift the black laptop with blue bottom panel",
+    "Use the left arm to open the black laptop with sharp rectangular edges",
+    "Raise and open the medium-sized laptop for work.",
+    "Raise the rectangular laptop with foldable hinge's top section.",
+    "Carefully open the black laptop with blue bottom panel using the left arm",
+    "Open the medium-sized laptop for work carefully with the left arm.",
+    "Fully open the the rectangular laptop with foldable hinge.",
+    "Pull the black laptop with sharp rectangular edges's lid upward.",
+    "Use the left arm to open the laptop for browsing and computing.",
+    "Gently open the portable laptop.",
+    "Gently lift the black-and-blue laptop with keyboard using the left arm",
+    "Raise the foldable laptop with screen using the left arm firmly.",
+    "Pull the lid of the blue bottom foldable black laptop upward.",
+    "Raise the black laptop with blue bottom panel using the left arm.",
+    "Raise the top of the black laptop with sharp rectangular edges",
+    "Hold the medium-sized laptop for work steady, lift lid.",
+    "Open the black laptop with sharp rectangular edges completely.",
+    "Raise the laptop for browsing and computing to expose the screen",
+    "Slide the black-and-blue laptop with keyboard open with the left arm.",
+    "Gently raise the blue base black lid laptop using the left arm.",
+    "Use the left arm to raise the black laptop with sharp rectangular edges.",
+    "Raise the medium-sized laptop for work lid using the left arm.",
+    "Lift the portable laptop slightly.",
+    "Use the left arm to open the black laptop with sharp rectangular edges.",
+    "Use the left arm to raise the blue base black lid laptop.",
+    "Pull the black-and-blue laptop with keyboard open with the left arm.",
+    "Fully lift the rectangular laptop with foldable hinge using the left arm.",
+    "Pull up the lid of the rectangular laptop with foldable hinge",
+    "Lift the black laptop with blue bottom panel's lid upwards.",
+    "Pull the rectangular laptop with foldable hinge upward lightly.",
+    "Open the rectangular laptop with foldable hinge lifting with the left arm",
+    "Use the left arm to raise the black laptop with blue bottom panel.",
+    "Lift and open the foldable laptop with screen.",
+    "Lift the black laptop with blue bottom panel open with the left arm.",
+    "Lift the medium-sized laptop for work lid completely.",
+    "Raise the lid of the medium-sized laptop for work.",
+    "Raise the portable laptop using the left arm.",
+    "Grip and lift the rectangular laptop with foldable hinge's lid.",
+    "Pull open the blue bottom foldable black laptop",
+    "Lift the portable laptop's lid using the left arm.",
+    "Lift the portable laptop to open.",
+    "Gently open the blue-black laptop upward.",
+    "Open the blue-black laptop entirely.",
+    "With the left arm, open the blue-black laptop's lid.",
+    "Push the portable laptop's lid upward using the left arm.",
+    "Lift the medium-sized laptop for work to open it up",
+    "Open the rectangular laptop with foldable hinge by lifting its lid.",
+    "Use the left arm to open the laptop for browsing and computing.",
+    "Pull the screen of the black-and-blue laptop with keyboard.",
+    "Raise the foldable laptop with screen lid with the left arm.",
+    "Use the left arm to lift the black-and-blue laptop with keyboard",
+    "Use the left arm to open the foldable laptop with screen",
+    "Raise and open the blue-black laptop.",
+    "Raise the blue bottom foldable black laptop's top section.",
+    "Carefully open the laptop for browsing and computing using the left arm",
+    "Open the rectangular laptop with foldable hinge carefully with the left arm.",
+    "Fully open the the rectangular laptop with foldable hinge.",
+    "Pull the foldable laptop with screen's lid upward.",
+    "Use the left arm to open the black-and-blue laptop with keyboard.",
+    "Gently open the laptop for browsing and computing.",
+    "Gently lift the portable laptop using the left arm",
+    "Raise the laptop for browsing and computing using the left arm firmly.",
+    "Pull the lid of the black-and-blue laptop with keyboard upward.",
+    "Raise the compact black laptop using the left arm.",
+    "Raise the top of the rectangular laptop with foldable hinge",
+    "Hold the foldable laptop with screen steady, lift lid.",
+    "Open the blue bottom foldable black laptop completely.",
+    "Raise the black laptop with blue bottom panel to expose the screen",
+    "Slide the black-and-blue laptop with keyboard open with the left arm.",
+    "Gently raise the blue base black lid laptop using the left arm.",
+    "Use the left arm to raise the rectangular laptop with foldable hinge.",
+    "Raise the blue-black laptop lid using the left arm.",
+    "Lift the blue-black laptop slightly.",
+    "Use the left arm to open the blue base black lid laptop.",
+    "Use the left arm to raise the rectangular laptop with foldable hinge.",
+    "Pull the blue-black laptop open with the left arm."
+  ],
+  "unseen": [
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the black laptop with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Lift the black laptop's lid fully.",
+    "Grab the black laptop and open it.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the black laptop and open it.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the black laptop with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the black laptop and open it.",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the black laptop with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the black laptop using the left arm",
+    "Open the black laptop using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the black laptop with one motion.",
+    "Lift the black laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Grab the black laptop and open it.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the black laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the black laptop's lid fully.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the smooth black plastic laptop carefully using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode78.json b/open_laptop/demo_clean/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c4dada6d6dbb078f92134be205763fe858e108a
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to open the black laptop",
+    "Use the left arm to lift the Toshiba laptop",
+    "Lift the Toshiba laptop to open it up",
+    "Gently raise the black laptop with red text underneath using the left arm.",
+    "Raise the medium black rectangular laptop lid with the left arm.",
+    "Use the left arm to raise the Toshiba laptop with rectangular screen.",
+    "Open the black laptop with red text underneath lifting with the left arm",
+    "Open the Toshiba laptop with rectangular screen carefully with the left arm.",
+    "Raise the lid of the black laptop with hinge mechanism.",
+    "Raise the sleek black Toshiba computing laptop using the left arm firmly.",
+    "Lift the black laptop with red Toshiba logo slightly.",
+    "Raise the Toshiba laptop's top section.",
+    "Push the Toshiba laptop with rectangular screen's lid upward using the left arm.",
+    "Raise the top of the medium black rectangular laptop",
+    "Lift the black laptop with red Toshiba logo's lid using the left arm.",
+    "Lift the sleek black Toshiba computing laptop lid completely.",
+    "Open the sleek black Toshiba computing laptop entirely.",
+    "Pull the black laptop with hinge mechanism's lid upward.",
+    "Raise the sleek black Toshiba computing laptop to expose the screen",
+    "Raise the portable folding Toshiba laptop using the left arm.",
+    "Open the foldable black laptop completely.",
+    "Use the left arm to open the black laptop with red Toshiba logo.",
+    "Pull up the lid of the Toshiba laptop with rectangular screen",
+    "Gently open the foldable black laptop.",
+    "With the left arm, open the portable folding Toshiba laptop's lid.",
+    "Pull the medium black rectangular laptop upward lightly.",
+    "Lift the black laptop with hinge mechanism's lid upwards.",
+    "Pull the screen of the Toshiba laptop with rectangular screen.",
+    "Hold the black laptop with red Toshiba logo steady, lift lid.",
+    "Carefully open the black laptop with red Toshiba logo using the left arm",
+    "Use the left arm to raise the portable folding Toshiba laptop.",
+    "Use the left arm to open the medium black rectangular laptop.",
+    "Lift the sleek black Toshiba computing laptop open with the left arm.",
+    "Gently open the portable folding Toshiba laptop upward.",
+    "Lift and open the black laptop with red Toshiba logo.",
+    "Gently lift the Toshiba laptop using the left arm",
+    "Pull the black laptop with red text underneath open with the left arm.",
+    "Fully lift the sleek black Toshiba computing laptop using the left arm.",
+    "Lift the medium black rectangular laptop to open.",
+    "Raise and open the medium black rectangular laptop.",
+    "Raise the black laptop with red text underneath using the left arm.",
+    "Grip and lift the black laptop with hinge mechanism's lid.",
+    "Slide the black laptop with smooth matte surface open with the left arm.",
+    "Open the black laptop with hinge mechanism by lifting its lid.",
+    "Fully open the the black laptop with smooth matte surface.",
+    "Pull open the folding laptop with screen and keyboard",
+    "Use the left arm to open the Toshiba laptop.",
+    "Use the left arm to raise the black laptop.",
+    "Raise the black laptop with hinge mechanism lid using the left arm.",
+    "Pull the lid of the black laptop with hinge mechanism upward.",
+    "Use the left arm to open the black laptop with hinge mechanism",
+    "Use the left arm to lift the medium black rectangular laptop",
+    "Lift the black laptop to open it up",
+    "Gently raise the black laptop with hinge mechanism using the left arm.",
+    "Raise the black laptop lid with the left arm.",
+    "Use the left arm to raise the black laptop with hinge mechanism.",
+    "Open the black laptop with smooth matte surface lifting with the left arm",
+    "Open the black laptop with hinge mechanism carefully with the left arm.",
+    "Raise the lid of the portable folding Toshiba laptop.",
+    "Raise the black laptop with red Toshiba logo using the left arm firmly.",
+    "Lift the black laptop with hinge mechanism slightly.",
+    "Raise the medium black rectangular laptop's top section.",
+    "Push the folding laptop with screen and keyboard's lid upward using the left arm.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Lift the black laptop's lid using the left arm.",
+    "Lift the Toshiba laptop with rectangular screen lid completely.",
+    "Open the portable folding Toshiba laptop entirely.",
+    "Pull the medium black rectangular laptop's lid upward.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Raise the sleek black Toshiba computing laptop using the left arm.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Use the left arm to open the black laptop.",
+    "Pull up the lid of the medium black rectangular laptop",
+    "Gently open the black laptop with red text underneath.",
+    "With the left arm, open the medium black rectangular laptop's lid.",
+    "Pull the black laptop with red Toshiba logo upward lightly.",
+    "Lift the sleek black Toshiba computing laptop's lid upwards.",
+    "Pull the screen of the Toshiba laptop.",
+    "Hold the black laptop with red Toshiba logo steady, lift lid.",
+    "Carefully open the Toshiba laptop with rectangular screen using the left arm",
+    "Use the left arm to raise the black laptop with red text underneath.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Lift the foldable black laptop open with the left arm.",
+    "Gently open the portable folding Toshiba laptop upward.",
+    "Lift and open the black laptop with hinge mechanism.",
+    "Gently lift the sleek black Toshiba computing laptop using the left arm",
+    "Pull the portable folding Toshiba laptop open with the left arm.",
+    "Fully lift the Toshiba laptop using the left arm.",
+    "Lift the black laptop with red Toshiba logo to open.",
+    "Raise and open the Toshiba laptop.",
+    "Raise the portable folding Toshiba laptop using the left arm.",
+    "Grip and lift the foldable black laptop's lid.",
+    "Slide the Toshiba laptop open with the left arm.",
+    "Open the sleek black Toshiba computing laptop by lifting its lid.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Pull open the portable folding Toshiba laptop",
+    "Use the left arm to open the portable folding Toshiba laptop.",
+    "Use the left arm to raise the portable folding Toshiba laptop.",
+    "Raise the black laptop with red Toshiba logo lid using the left arm.",
+    "Pull the lid of the Toshiba laptop upward."
+  ],
+  "unseen": [
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Pull up the black laptop slightly rounded at edges's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode79.json b/open_laptop/demo_clean/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec27531b83fa96a28b0127de049e7dcc550dbe60
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the laptop featuring textured exterior open with the left arm.",
+    "Raise and open the laptop with screen and keyboard.",
+    "Gently open the hinged laptop with screen and base upward.",
+    "Raise the black laptop using the left arm.",
+    "Raise the top of the laptop with red logo underside",
+    "Pull the laptop featuring textured exterior open with the left arm.",
+    "Lift the medium-sized laptop with black body's lid using the left arm.",
+    "Open the foldable laptop with patterned keyboard completely.",
+    "Raise the hinged laptop with screen and base using the left arm.",
+    "Use the left arm to open the compact black laptop.",
+    "Grip and lift the compact black laptop's lid.",
+    "Lift the laptop with screen and keyboard open with the left arm.",
+    "Use the left arm to raise the laptop with screen and keyboard.",
+    "Open the medium-sized laptop with black body carefully with the left arm.",
+    "Lift the foldable laptop with patterned keyboard to open it up",
+    "Use the left arm to open the black metallic laptop.",
+    "Pull the sleek laptop design's lid upward.",
+    "Lift the laptop with red logo underside to open.",
+    "Raise the hinged laptop with screen and base lid using the left arm.",
+    "Fully open the the laptop with screen and keyboard.",
+    "Pull the screen of the black laptop with red accents.",
+    "Use the left arm to raise the foldable laptop with patterned keyboard.",
+    "Lift the hinged laptop with screen and base lid completely.",
+    "Raise the black laptop with red accents to expose the screen",
+    "Pull open the medium-sized laptop with black body",
+    "Pull the hinged laptop with screen and base upward lightly.",
+    "Lift and open the laptop with screen and keyboard.",
+    "Hold the sleek laptop design steady, lift lid.",
+    "Use the left arm to lift the laptop with screen and keyboard",
+    "Fully lift the foldable laptop with patterned keyboard using the left arm.",
+    "Raise the laptop with red logo underside lid with the left arm.",
+    "With the left arm, open the black laptop's lid.",
+    "Gently lift the laptop with red logo underside using the left arm",
+    "Raise the lid of the medium-sized laptop with black body.",
+    "Raise the laptop featuring textured exterior using the left arm firmly.",
+    "Lift the laptop with screen and keyboard's lid upwards.",
+    "Carefully open the hinged laptop with screen and base using the left arm",
+    "Use the left arm to open the laptop with red logo underside",
+    "Pull the lid of the sleek laptop design upward.",
+    "Gently open the black metallic laptop.",
+    "Gently raise the hinged laptop with screen and base using the left arm.",
+    "Lift the laptop featuring textured exterior slightly.",
+    "Use the left arm to open the laptop with red logo underside.",
+    "Open the sleek laptop design lifting with the left arm",
+    "Open the laptop featuring textured exterior by lifting its lid.",
+    "Use the left arm to raise the hinged laptop with screen and base.",
+    "Push the laptop featuring textured exterior's lid upward using the left arm.",
+    "Pull up the lid of the laptop featuring textured exterior",
+    "Raise the lightweight laptop's top section.",
+    "Open the foldable laptop with patterned keyboard entirely.",
+    "Slide the foldable laptop with patterned keyboard open with the left arm.",
+    "Raise and open the black laptop.",
+    "Gently open the compact black laptop upward.",
+    "Raise the laptop featuring textured exterior using the left arm.",
+    "Raise the top of the sleek laptop design",
+    "Pull the black laptop with red accents open with the left arm.",
+    "Lift the black metallic laptop's lid using the left arm.",
+    "Open the laptop with red logo underside completely.",
+    "Raise the lightweight laptop using the left arm.",
+    "Use the left arm to open the laptop with screen and keyboard.",
+    "Grip and lift the compact black laptop's lid.",
+    "Lift the foldable laptop with patterned keyboard open with the left arm.",
+    "Use the left arm to raise the sleek laptop design.",
+    "Open the hinged laptop with screen and base carefully with the left arm.",
+    "Lift the black metallic laptop to open it up",
+    "Use the left arm to open the laptop featuring textured exterior.",
+    "Pull the black metallic laptop's lid upward.",
+    "Lift the hinged laptop with screen and base to open.",
+    "Raise the sleek laptop design lid using the left arm.",
+    "Fully open the the lightweight laptop.",
+    "Pull the screen of the black metallic laptop.",
+    "Use the left arm to raise the compact black laptop.",
+    "Lift the hinged laptop with screen and base lid completely.",
+    "Raise the black laptop to expose the screen",
+    "Pull open the sleek laptop design",
+    "Pull the compact black laptop upward lightly.",
+    "Lift and open the black laptop with red accents.",
+    "Hold the laptop featuring textured exterior steady, lift lid.",
+    "Use the left arm to lift the black metallic laptop",
+    "Fully lift the black laptop using the left arm.",
+    "Raise the compact black laptop lid with the left arm.",
+    "With the left arm, open the compact black laptop's lid.",
+    "Gently lift the black laptop using the left arm",
+    "Raise the lid of the laptop with screen and keyboard.",
+    "Raise the compact black laptop using the left arm firmly.",
+    "Lift the compact black laptop's lid upwards.",
+    "Carefully open the medium-sized laptop with black body using the left arm",
+    "Use the left arm to open the sleek laptop design",
+    "Pull the lid of the compact black laptop upward.",
+    "Gently open the black laptop with red accents.",
+    "Gently raise the hinged laptop with screen and base using the left arm.",
+    "Lift the sleek laptop design slightly.",
+    "Use the left arm to open the hinged laptop with screen and base.",
+    "Open the black laptop with red accents lifting with the left arm",
+    "Open the sleek laptop design by lifting its lid.",
+    "Use the left arm to raise the compact black laptop.",
+    "Push the black laptop's lid upward using the left arm.",
+    "Pull up the lid of the compact black laptop",
+    "Raise the laptop with screen and keyboard's top section.",
+    "Open the hinged laptop with screen and base entirely."
+  ],
+  "unseen": [
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop using the left arm",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Open the portable laptop using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Open the portable laptop with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the portable laptop and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop's lid fully.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the portable laptop using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the portable laptop's lid fully.",
+    "Lift the portable laptop using the left arm",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Lift the portable laptop using the left arm.",
+    "Grab the portable laptop and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop's lid fully.",
+    "Lift the portable laptop using the left arm",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the portable laptop using the left arm",
+    "Open the portable laptop with one motion.",
+    "Lift the portable laptop's lid gently.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop carefully using the left arm.",
+    "Open the portable laptop using the left arm.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode8.json b/open_laptop/demo_clean/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f56f773a2715e5d20888810c1c39c3a8d0d88d8
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the laptop with blue screen open with the right arm.",
+    "Use the right arm to open the laptop with smooth texture.",
+    "Raise and open the laptop with silver base.",
+    "Pull the laptop with glass screen open with the right arm.",
+    "Open the laptop with glass screen completely.",
+    "Open the rectangular laptop with hinge lifting with the right arm",
+    "Use the right arm to raise the laptop with smooth texture.",
+    "Lift and open the laptop for computing.",
+    "Raise the laptop with glass screen using the right arm firmly.",
+    "Raise the medium-sized laptop's top section.",
+    "Gently open the laptop with blue screen upward.",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Open the laptop with blue screen by lifting its lid.",
+    "Pull open the laptop with smooth texture",
+    "Raise the top of the blue-screen laptop",
+    "Open the medium-sized laptop entirely.",
+    "Use the right arm to lift the laptop with blue screen",
+    "Pull the lid of the metallic laptop upward.",
+    "Fully open the the portable silver laptop.",
+    "Use the right arm to open the blue-screen laptop",
+    "Raise the blue-screen laptop using the right arm.",
+    "Grip and lift the metallic laptop's lid.",
+    "Pull the laptop with glass screen's lid upward.",
+    "Use the right arm to raise the laptop with silver base.",
+    "Open the metallic laptop carefully with the right arm.",
+    "Use the right arm to raise the hinged laptop with display.",
+    "Raise the blue-screen laptop to expose the screen",
+    "Lift the blue-screen laptop open with the right arm.",
+    "Pull the screen of the metallic laptop.",
+    "Raise the laptop with blue screen lid with the right arm.",
+    "Lift the laptop featuring smooth metal finish slightly.",
+    "Fully lift the laptop with glass screen using the right arm.",
+    "Raise the hinged laptop with display using the right arm.",
+    "Push the blue-screen laptop's lid upward using the right arm.",
+    "Gently open the hinged laptop with display.",
+    "Lift the portable silver laptop to open it up",
+    "Carefully open the laptop with silver base using the right arm",
+    "Lift the laptop with glass screen's lid upwards.",
+    "Gently lift the medium-sized laptop using the right arm",
+    "Pull the laptop with blue screen upward lightly.",
+    "With the right arm, open the metallic laptop's lid.",
+    "Gently raise the laptop featuring smooth metal finish using the right arm.",
+    "Lift the laptop with smooth texture's lid using the right arm.",
+    "Use the right arm to open the metallic laptop.",
+    "Lift the laptop with blue screen lid completely.",
+    "Raise the lid of the hinged laptop with display.",
+    "Use the right arm to open the laptop with silver base.",
+    "Pull up the lid of the medium-sized laptop",
+    "Lift the laptop for computing to open.",
+    "Hold the laptop featuring smooth metal finish steady, lift lid.",
+    "Slide the hinged laptop with display open with the right arm.",
+    "Use the right arm to open the laptop with blue screen.",
+    "Raise and open the laptop with smooth texture.",
+    "Pull the laptop with blue screen open with the right arm.",
+    "Open the laptop featuring smooth metal finish completely.",
+    "Open the blue-screen laptop lifting with the right arm",
+    "Use the right arm to raise the laptop with silver base.",
+    "Lift and open the rectangular laptop with hinge.",
+    "Raise the laptop featuring smooth metal finish using the right arm firmly.",
+    "Raise the laptop for computing's top section.",
+    "Gently open the laptop with silver base upward.",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Open the laptop with silver base by lifting its lid.",
+    "Pull open the hinged laptop with display",
+    "Raise the top of the rectangular laptop with hinge",
+    "Open the laptop with blue screen entirely.",
+    "Use the right arm to lift the laptop with blue screen",
+    "Pull the lid of the portable silver laptop upward.",
+    "Fully open the the medium-sized laptop.",
+    "Use the right arm to open the laptop with glass screen",
+    "Raise the rectangular laptop with hinge using the right arm.",
+    "Grip and lift the blue-screen laptop's lid.",
+    "Pull the medium-sized laptop's lid upward.",
+    "Use the right arm to raise the metallic laptop.",
+    "Open the laptop for computing carefully with the right arm.",
+    "Use the right arm to raise the hinged laptop with display.",
+    "Raise the laptop with blue screen to expose the screen",
+    "Lift the laptop with blue screen open with the right arm.",
+    "Pull the screen of the laptop with blue screen.",
+    "Raise the laptop with silver base lid with the right arm.",
+    "Lift the portable silver laptop slightly.",
+    "Fully lift the laptop for computing using the right arm.",
+    "Raise the laptop featuring smooth metal finish using the right arm.",
+    "Push the rectangular laptop with hinge's lid upward using the right arm.",
+    "Gently open the laptop with smooth texture.",
+    "Lift the rectangular laptop with hinge to open it up",
+    "Carefully open the medium-sized laptop using the right arm",
+    "Lift the metallic laptop's lid upwards.",
+    "Gently lift the laptop with silver base using the right arm",
+    "Pull the laptop featuring smooth metal finish upward lightly.",
+    "With the right arm, open the laptop with silver base's lid.",
+    "Gently raise the laptop with smooth texture using the right arm.",
+    "Lift the laptop with glass screen's lid using the right arm.",
+    "Use the right arm to open the laptop with blue screen.",
+    "Lift the rectangular laptop with hinge lid completely.",
+    "Raise the lid of the metallic laptop.",
+    "Use the right arm to open the laptop with glass screen.",
+    "Pull up the lid of the blue-screen laptop",
+    "Lift the laptop featuring smooth metal finish to open.",
+    "Hold the laptop featuring smooth metal finish steady, lift lid."
+  ],
+  "unseen": [
+    "Lift the silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the sleek laptop with care",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Open the sleek laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Open the silver laptop with care",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop with care",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop with care",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop using the right arm.",
+    "Open the sleek laptop with care",
+    "Open the sleek laptop using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode80.json b/open_laptop/demo_clean/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..99d0833f7b495a501ea5255a61dd0ee65cd7008f
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the portable folding Toshiba laptop open with the left arm.",
+    "Raise the black laptop with red Toshiba logo to expose the screen",
+    "Gently open the black laptop with red text underneath.",
+    "Pull the lid of the black laptop with red text underneath upward.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Hold the folding laptop with screen and keyboard steady, lift lid.",
+    "Pull the black laptop with red Toshiba logo open with the left arm.",
+    "Lift the black laptop with red text underneath to open it up",
+    "Raise the top of the Toshiba laptop",
+    "Open the foldable black laptop carefully with the left arm.",
+    "Raise the folding laptop with screen and keyboard using the left arm firmly.",
+    "Use the left arm to open the black laptop with hinge mechanism.",
+    "With the left arm, open the folding laptop with screen and keyboard's lid.",
+    "Fully open the the black laptop with red Toshiba logo.",
+    "Grip and lift the sleek black Toshiba computing laptop's lid.",
+    "Lift the black laptop with smooth matte surface lid completely.",
+    "Pull up the lid of the black laptop with red text underneath",
+    "Lift and open the black laptop.",
+    "Gently raise the Toshiba laptop with rectangular screen using the left arm.",
+    "Raise the lid of the Toshiba laptop.",
+    "Use the left arm to lift the foldable black laptop",
+    "Use the left arm to raise the medium black rectangular laptop.",
+    "Lift the portable folding Toshiba laptop's lid upwards.",
+    "Use the left arm to open the sleek black Toshiba computing laptop",
+    "Lift the Toshiba laptop slightly.",
+    "Raise the Toshiba laptop with rectangular screen lid using the left arm.",
+    "Lift the folding laptop with screen and keyboard open with the left arm.",
+    "Fully lift the Toshiba laptop using the left arm.",
+    "Raise the black laptop with red text underneath using the left arm.",
+    "Pull the black laptop's lid upward.",
+    "Lift the Toshiba laptop's lid using the left arm.",
+    "Use the left arm to raise the black laptop with smooth matte surface.",
+    "Pull the screen of the black laptop with smooth matte surface.",
+    "Use the left arm to open the foldable black laptop.",
+    "Raise the Toshiba laptop with rectangular screen using the left arm.",
+    "Open the Toshiba laptop with rectangular screen entirely.",
+    "Lift the medium black rectangular laptop to open.",
+    "Raise the Toshiba laptop with rectangular screen lid with the left arm.",
+    "Gently open the Toshiba laptop upward.",
+    "Gently lift the foldable black laptop using the left arm",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Carefully open the folding laptop with screen and keyboard using the left arm",
+    "Push the sleek black Toshiba computing laptop's lid upward using the left arm.",
+    "Open the portable folding Toshiba laptop completely.",
+    "Use the left arm to raise the black laptop with red text underneath.",
+    "Pull open the portable folding Toshiba laptop",
+    "Raise and open the medium black rectangular laptop.",
+    "Open the black laptop with red Toshiba logo lifting with the left arm",
+    "Raise the medium black rectangular laptop's top section.",
+    "Open the sleek black Toshiba computing laptop by lifting its lid.",
+    "Slide the black laptop open with the left arm.",
+    "Raise the black laptop to expose the screen",
+    "Gently open the medium black rectangular laptop.",
+    "Pull the lid of the sleek black Toshiba computing laptop upward.",
+    "Use the left arm to open the black laptop.",
+    "Hold the foldable black laptop steady, lift lid.",
+    "Pull the Toshiba laptop with rectangular screen open with the left arm.",
+    "Lift the sleek black Toshiba computing laptop to open it up",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Open the black laptop with red text underneath carefully with the left arm.",
+    "Raise the black laptop with red Toshiba logo using the left arm firmly.",
+    "Use the left arm to open the foldable black laptop.",
+    "With the left arm, open the black laptop with red text underneath's lid.",
+    "Fully open the the sleek black Toshiba computing laptop.",
+    "Grip and lift the foldable black laptop's lid.",
+    "Lift the portable folding Toshiba laptop lid completely.",
+    "Pull up the lid of the black laptop",
+    "Lift and open the black laptop with smooth matte surface.",
+    "Gently raise the medium black rectangular laptop using the left arm.",
+    "Raise the lid of the black laptop.",
+    "Use the left arm to lift the black laptop with hinge mechanism",
+    "Use the left arm to raise the black laptop.",
+    "Lift the medium black rectangular laptop's lid upwards.",
+    "Use the left arm to open the black laptop with hinge mechanism",
+    "Lift the black laptop with hinge mechanism slightly.",
+    "Raise the sleek black Toshiba computing laptop lid using the left arm.",
+    "Lift the black laptop with smooth matte surface open with the left arm.",
+    "Fully lift the black laptop with smooth matte surface using the left arm.",
+    "Raise the Toshiba laptop using the left arm.",
+    "Pull the Toshiba laptop with rectangular screen's lid upward.",
+    "Lift the black laptop with red Toshiba logo's lid using the left arm.",
+    "Use the left arm to raise the sleek black Toshiba computing laptop.",
+    "Pull the screen of the foldable black laptop.",
+    "Use the left arm to open the sleek black Toshiba computing laptop.",
+    "Raise the medium black rectangular laptop using the left arm.",
+    "Open the black laptop with red Toshiba logo entirely.",
+    "Lift the black laptop with red text underneath to open.",
+    "Raise the Toshiba laptop lid with the left arm.",
+    "Gently open the black laptop with smooth matte surface upward.",
+    "Gently lift the black laptop with red Toshiba logo using the left arm",
+    "Pull the Toshiba laptop upward lightly.",
+    "Carefully open the Toshiba laptop with rectangular screen using the left arm",
+    "Push the sleek black Toshiba computing laptop's lid upward using the left arm.",
+    "Open the black laptop with red Toshiba logo completely.",
+    "Use the left arm to raise the medium black rectangular laptop.",
+    "Pull open the medium black rectangular laptop",
+    "Raise and open the black laptop with smooth matte surface.",
+    "Open the Toshiba laptop with rectangular screen lifting with the left arm",
+    "Raise the Toshiba laptop with rectangular screen's top section.",
+    "Open the medium black rectangular laptop by lifting its lid."
+  ],
+  "unseen": [
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Open the black laptop fitting laptop bags with one motion."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode81.json b/open_laptop/demo_clean/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..873758138e8dde1d7a5d085d8828d5f3cd135080
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully open the the black and silver portable laptop.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Raise the clamshell laptop with flat screen using the right arm.",
+    "Pull the laptop with silver buttons on keyboard's lid upward.",
+    "Grip and lift the rectangular laptop with smooth texture's lid.",
+    "Pull open the laptop with shiny black surface",
+    "Open the laptop with wide black lid carefully with the right arm.",
+    "Raise the black laptop lid using the right arm.",
+    "Raise the laptop with shiny black surface's top section.",
+    "With the right arm, open the laptop with rectangular display screen's lid.",
+    "Open the black laptop lifting with the right arm",
+    "Pull the lid of the laptop with shiny black surface upward.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Fully lift the laptop featuring built-in keyboard using the right arm.",
+    "Open the clamshell laptop with flat screen completely.",
+    "Lift the black laptop open with the right arm.",
+    "Lift the black laptop with smooth body lid completely.",
+    "Gently lift the laptop with rectangular display screen using the right arm",
+    "Open the laptop with silver buttons on keyboard entirely.",
+    "Lift the black laptop to open it up",
+    "Raise the black laptop with smooth body lid with the right arm.",
+    "Gently open the black laptop with smooth body.",
+    "Gently raise the laptop with shiny black surface using the right arm.",
+    "Raise the top of the rectangular laptop with smooth texture",
+    "Lift and open the laptop with wide black lid.",
+    "Raise the laptop with shiny black surface using the right arm firmly.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Gently open the laptop with rectangular display screen upward.",
+    "Pull the laptop featuring built-in keyboard upward lightly.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Carefully open the black laptop with smooth body using the right arm",
+    "Raise the black laptop to expose the screen",
+    "Hold the clamshell laptop with flat screen steady, lift lid.",
+    "Use the right arm to open the black laptop",
+    "Open the clamshell laptop with flat screen by lifting its lid.",
+    "Use the right arm to lift the laptop with shiny black surface",
+    "Raise the lid of the black laptop.",
+    "Lift the laptop with shiny black surface to open.",
+    "Pull up the lid of the black laptop with smooth body",
+    "Pull the screen of the laptop with rectangular display screen.",
+    "Lift the laptop with silver buttons on keyboard's lid using the right arm.",
+    "Raise and open the laptop with rectangular display screen.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Slide the clamshell laptop with flat screen open with the right arm.",
+    "Use the right arm to open the clamshell laptop with flat screen.",
+    "Push the laptop with rectangular display screen's lid upward using the right arm.",
+    "Use the right arm to open the black laptop.",
+    "Lift the laptop with silver buttons on keyboard slightly.",
+    "Pull the rectangular laptop with folding hinge open with the right arm.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Fully open the the black and silver portable laptop.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Raise the clamshell laptop with flat screen using the right arm.",
+    "Pull the laptop with wide black lid's lid upward.",
+    "Grip and lift the laptop with rectangular display screen's lid.",
+    "Pull open the laptop with rectangular display screen",
+    "Open the black laptop with smooth body carefully with the right arm.",
+    "Raise the clamshell laptop with flat screen lid using the right arm.",
+    "Raise the rectangular laptop with folding hinge's top section.",
+    "With the right arm, open the rectangular laptop with folding hinge's lid.",
+    "Open the clamshell laptop with flat screen lifting with the right arm",
+    "Pull the lid of the laptop featuring built-in keyboard upward.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Fully lift the laptop with shiny black surface using the right arm.",
+    "Open the laptop with rectangular display screen completely.",
+    "Lift the clamshell laptop with flat screen open with the right arm.",
+    "Lift the black laptop lid completely.",
+    "Gently lift the black and silver portable laptop using the right arm",
+    "Open the laptop with shiny black surface entirely.",
+    "Lift the rectangular laptop with folding hinge to open it up",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Gently open the laptop with wide black lid.",
+    "Gently raise the laptop featuring built-in keyboard using the right arm.",
+    "Raise the top of the clamshell laptop with flat screen",
+    "Lift and open the rectangular laptop with folding hinge.",
+    "Raise the clamshell laptop with flat screen using the right arm firmly.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Gently open the laptop featuring built-in keyboard upward.",
+    "Pull the black laptop with smooth body upward lightly.",
+    "Lift the rectangular laptop with smooth texture's lid upwards.",
+    "Carefully open the black laptop using the right arm",
+    "Raise the laptop featuring built-in keyboard to expose the screen",
+    "Hold the laptop featuring built-in keyboard steady, lift lid.",
+    "Use the right arm to open the laptop with rectangular display screen",
+    "Open the black laptop by lifting its lid.",
+    "Use the right arm to lift the laptop with silver keyboard",
+    "Raise the lid of the rectangular laptop with smooth texture.",
+    "Lift the laptop with shiny black surface to open.",
+    "Pull up the lid of the laptop featuring built-in keyboard",
+    "Pull the screen of the rectangular laptop with smooth texture.",
+    "Lift the laptop with wide black lid's lid using the right arm.",
+    "Raise and open the black laptop.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Slide the laptop with rectangular display screen open with the right arm.",
+    "Use the right arm to open the black laptop with smooth body.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Use the right arm to open the clamshell laptop with flat screen.",
+    "Lift the clamshell laptop with flat screen slightly.",
+    "Pull the rectangular laptop with smooth texture open with the right arm.",
+    "Raise the laptop with shiny black surface using the right arm."
+  ],
+  "unseen": [
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode82.json b/open_laptop/demo_clean/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..94c4932621f6829d089826781ee18e8fcc4b910c
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the slim laptop",
+    "Fully open the the laptop with black keyboard.",
+    "Raise the compact silver laptop using the right arm firmly.",
+    "Pull the compact silver laptop open with the right arm.",
+    "Use the right arm to raise the laptop with metallic finish.",
+    "Lift the lightweight silver laptop open with the right arm.",
+    "With the right arm, open the medium-sized silver laptop's lid.",
+    "Slide the laptop with foldable screen design open with the right arm.",
+    "Fully lift the portable slim laptop using the right arm.",
+    "Raise and open the laptop with foldable screen design.",
+    "Use the right arm to open the laptop with smooth surface.",
+    "Open the laptop with smooth surface carefully with the right arm.",
+    "Use the right arm to open the laptop with foldable screen design",
+    "Push the laptop with metallic finish's lid upward using the right arm.",
+    "Raise the top of the compact silver laptop",
+    "Gently lift the laptop with metallic finish using the right arm",
+    "Raise the laptop with foldable screen design using the right arm.",
+    "Raise the laptop with foldable screen design using the right arm.",
+    "Pull up the lid of the laptop with metallic finish",
+    "Lift the lightweight silver laptop's lid using the right arm.",
+    "Open the portable slim laptop entirely.",
+    "Pull the laptop with foldable screen design upward lightly.",
+    "Gently open the laptop with smooth surface.",
+    "Lift the medium-sized silver laptop to open it up",
+    "Lift the silver laptop with dark keys to open.",
+    "Open the laptop with metallic finish completely.",
+    "Use the right arm to raise the medium-sized silver laptop.",
+    "Use the right arm to open the rectangular laptop with screen.",
+    "Use the right arm to open the metal laptop with black keys.",
+    "Lift the metal laptop with black keys's lid upwards.",
+    "Pull open the laptop with metallic finish",
+    "Pull the screen of the laptop with smooth surface.",
+    "Pull the lid of the compact silver laptop upward.",
+    "Raise the slim laptop lid using the right arm.",
+    "Hold the laptop with black keyboard steady, lift lid.",
+    "Use the right arm to raise the portable slim laptop.",
+    "Carefully open the medium-sized silver laptop using the right arm",
+    "Pull the medium-sized silver laptop's lid upward.",
+    "Gently open the laptop with metallic finish upward.",
+    "Raise the lightweight silver laptop to expose the screen",
+    "Grip and lift the laptop with smooth surface's lid.",
+    "Lift the portable slim laptop lid completely.",
+    "Lift the lightweight silver laptop slightly.",
+    "Raise the compact silver laptop's top section.",
+    "Raise the laptop with metallic finish lid with the right arm.",
+    "Lift and open the laptop with black keyboard.",
+    "Raise the lid of the silver laptop with dark keys.",
+    "Open the silver laptop with dark keys lifting with the right arm",
+    "Gently raise the lightweight silver laptop using the right arm.",
+    "Open the silver laptop with dark keys by lifting its lid.",
+    "Use the right arm to lift the laptop with metallic finish",
+    "Fully open the the portable slim laptop.",
+    "Raise the compact silver laptop using the right arm firmly.",
+    "Pull the medium-sized silver laptop open with the right arm.",
+    "Use the right arm to raise the metal laptop with black keys.",
+    "Lift the laptop with smooth surface open with the right arm.",
+    "With the right arm, open the portable slim laptop's lid.",
+    "Slide the slim laptop open with the right arm.",
+    "Fully lift the silver laptop with dark keys using the right arm.",
+    "Raise and open the laptop with metallic finish.",
+    "Use the right arm to open the rectangular laptop with screen.",
+    "Open the rectangular laptop with screen carefully with the right arm.",
+    "Use the right arm to open the laptop with foldable screen design",
+    "Push the metal laptop with black keys's lid upward using the right arm.",
+    "Raise the top of the silver laptop with dark keys",
+    "Gently lift the portable slim laptop using the right arm",
+    "Raise the rectangular laptop with screen using the right arm.",
+    "Raise the compact silver laptop using the right arm.",
+    "Pull up the lid of the laptop with black keyboard",
+    "Lift the medium-sized silver laptop's lid using the right arm.",
+    "Open the silver laptop with dark keys entirely.",
+    "Pull the metal laptop with black keys upward lightly.",
+    "Gently open the portable slim laptop.",
+    "Lift the medium-sized silver laptop to open it up",
+    "Lift the medium-sized silver laptop to open.",
+    "Open the slim laptop completely.",
+    "Use the right arm to raise the laptop with black keyboard.",
+    "Use the right arm to open the compact silver laptop.",
+    "Use the right arm to open the laptop with black keyboard.",
+    "Lift the rectangular laptop with screen's lid upwards.",
+    "Pull open the slim laptop",
+    "Pull the screen of the laptop with black keyboard.",
+    "Pull the lid of the portable slim laptop upward.",
+    "Raise the metal laptop with black keys lid using the right arm.",
+    "Hold the lightweight silver laptop steady, lift lid.",
+    "Use the right arm to raise the metal laptop with black keys.",
+    "Carefully open the compact silver laptop using the right arm",
+    "Pull the lightweight silver laptop's lid upward.",
+    "Gently open the lightweight silver laptop upward.",
+    "Raise the laptop with foldable screen design to expose the screen",
+    "Grip and lift the laptop with black keyboard's lid.",
+    "Lift the laptop with foldable screen design lid completely.",
+    "Lift the metal laptop with black keys slightly.",
+    "Raise the rectangular laptop with screen's top section.",
+    "Raise the laptop with foldable screen design lid with the right arm.",
+    "Lift and open the laptop with foldable screen design.",
+    "Raise the lid of the metal laptop with black keys.",
+    "Open the medium-sized silver laptop lifting with the right arm",
+    "Gently raise the metal laptop with black keys using the right arm.",
+    "Open the compact silver laptop by lifting its lid."
+  ],
+  "unseen": [
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the silver laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the silver laptop with care",
+    "Open the silver laptop with one motion.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop using the right arm",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop with one motion.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the silver laptop with one motion.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the silver laptop using the right arm",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop with one motion.",
+    "Open the silver laptop using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop using the right arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the silver laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Lift the foldable laptop's lid gently."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode83.json b/open_laptop/demo_clean/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e3419d47d69285d905b914510cc0bd9522febb8
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the silver keyboard laptop's lid upward using the left arm.",
+    "Use the left arm to lift the black and silver laptop",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Lift and open the matte laptop with smooth screen.",
+    "Slide the laptop with silver keyboard open with the left arm.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Fully lift the portable folding laptop using the left arm.",
+    "Gently lift the laptop with silver keyboard using the left arm",
+    "With the left arm, open the folding laptop with screen and keyboard's lid.",
+    "Raise the black laptop with reflective screen's top section.",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Open the matte laptop with smooth screen by lifting its lid.",
+    "Raise the compact black and silver computer using the left arm.",
+    "Open the folding laptop with screen and keyboard entirely.",
+    "Raise the black and silver laptop using the left arm firmly.",
+    "Use the left arm to raise the Toshiba laptop with folding design.",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Pull the black laptop with reflective screen's lid upward.",
+    "Grip and lift the compact black and silver computer's lid.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Pull open the medium-sized laptop",
+    "Carefully open the rectangular laptop with Toshiba logo using the left arm",
+    "Use the left arm to open the black and silver laptop",
+    "Fully open the the Toshiba laptop with folding design.",
+    "Open the laptop with silver keyboard carefully with the left arm.",
+    "Raise the portable folding laptop to expose the screen",
+    "Lift the medium-sized laptop open with the left arm.",
+    "Use the left arm to raise the compact black and silver computer.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Lift the black laptop with reflective screen to open it up",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Lift the matte laptop with smooth screen's lid using the left arm.",
+    "Pull the Toshiba laptop with folding design open with the left arm.",
+    "Raise the laptop with silver keyboard using the left arm.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Use the left arm to open the silver keyboard laptop.",
+    "Use the left arm to open the black laptop with reflective screen.",
+    "Use the left arm to open the Toshiba laptop with folding design.",
+    "Raise the medium-sized laptop lid using the left arm.",
+    "Raise the lid of the folding laptop with screen and keyboard.",
+    "Open the compact black and silver computer completely.",
+    "Gently raise the silver keyboard laptop using the left arm.",
+    "Open the silver keyboard laptop lifting with the left arm",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Gently open the medium-sized laptop.",
+    "Gently open the black and silver laptop upward.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Raise the silver keyboard laptop lid with the left arm.",
+    "Push the matte laptop with smooth screen's lid upward using the left arm.",
+    "Use the left arm to lift the black laptop with reflective screen",
+    "Lift the device with flat keyboard and screen to open.",
+    "Raise the top of the silver keyboard laptop",
+    "Lift and open the device with flat keyboard and screen.",
+    "Slide the folding laptop with screen and keyboard open with the left arm.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Fully lift the device with flat keyboard and screen using the left arm.",
+    "Gently lift the matte laptop with smooth screen using the left arm",
+    "With the left arm, open the compact black and silver computer's lid.",
+    "Raise the folding laptop with screen and keyboard's top section.",
+    "Pull the screen of the black and silver laptop.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Raise the silver keyboard laptop using the left arm.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Raise the matte laptop with smooth screen using the left arm firmly.",
+    "Use the left arm to raise the device with flat keyboard and screen.",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Pull the compact black and silver computer's lid upward.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Lift the folding laptop with screen and keyboard's lid upwards.",
+    "Pull open the matte laptop with smooth screen",
+    "Carefully open the silver keyboard laptop using the left arm",
+    "Use the left arm to open the black and silver laptop",
+    "Fully open the the black laptop with reflective screen.",
+    "Open the medium-sized laptop carefully with the left arm.",
+    "Raise the compact black and silver computer to expose the screen",
+    "Lift the matte laptop with smooth screen open with the left arm.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Pull up the lid of the medium-sized laptop",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Lift the black and silver laptop to open it up",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Lift the black and silver laptop's lid using the left arm.",
+    "Pull the laptop with silver keyboard open with the left arm.",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Raise and open the compact black and silver computer.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Use the left arm to open the device with flat keyboard and screen.",
+    "Use the left arm to open the device with flat keyboard and screen.",
+    "Raise the folding laptop with screen and keyboard lid using the left arm.",
+    "Raise the lid of the compact black and silver computer.",
+    "Open the rectangular laptop with Toshiba logo completely.",
+    "Gently raise the silver keyboard laptop using the left arm.",
+    "Open the folding laptop with screen and keyboard lifting with the left arm",
+    "Lift the compact black and silver computer slightly.",
+    "Gently open the Toshiba laptop with folding design.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Raise the compact black and silver computer lid with the left arm."
+  ],
+  "unseen": [
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Open the computer with black screen with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Open the computer with black screen with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode84.json b/open_laptop/demo_clean/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..21f6166bb8d3fe6fe05d9390386fca719235ccb2
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the black and silver laptop upward lightly.",
+    "Gently lift the medium foldable silver laptop using the left arm",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Slide the wood surrounded laptop open with the left arm.",
+    "Lift the silver laptop's lid using the left arm.",
+    "Use the left arm to open the keyboard laptop.",
+    "Gently raise the metal laptop using the left arm.",
+    "Lift the black screen laptop to open.",
+    "Use the left arm to open the silver laptop with foldable parts.",
+    "Open the metal laptop lifting with the left arm",
+    "Pull the screen of the silver laptop with foldable parts.",
+    "Raise the metal laptop using the left arm firmly.",
+    "Push the silver laptop with black keyboard's lid upward using the left arm.",
+    "Raise the black and silver laptop's top section.",
+    "Gently open the laptop with black textured screen.",
+    "Raise the lid of the silver laptop with black keyboard.",
+    "Lift the silver laptop open with the left arm.",
+    "Open the black and silver laptop completely.",
+    "Lift the black screen laptop's lid upwards.",
+    "Lift the metal laptop slightly.",
+    "Use the left arm to open the medium foldable silver laptop",
+    "Raise the black screen laptop using the left arm.",
+    "Carefully open the keyboard laptop using the left arm",
+    "Pull the lid of the wood surrounded laptop upward.",
+    "Grip and lift the metal laptop's lid.",
+    "Use the left arm to open the keyboard laptop.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Use the left arm to lift the laptop with wood panel background",
+    "Fully open the the silver laptop.",
+    "Lift the smooth textured laptop to open it up",
+    "Open the medium foldable silver laptop carefully with the left arm.",
+    "Open the medium foldable silver laptop entirely.",
+    "Gently open the keyboard laptop upward.",
+    "Pull up the lid of the black screen laptop",
+    "Fully lift the laptop with black textured screen using the left arm.",
+    "Hold the smooth textured laptop steady, lift lid.",
+    "Raise the keyboard laptop lid with the left arm.",
+    "Raise the metal laptop lid using the left arm.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Pull the silver laptop open with the left arm.",
+    "Raise the silver laptop to expose the screen",
+    "Pull the laptop with wood panel background's lid upward.",
+    "Lift and open the black and silver laptop.",
+    "Pull open the metal laptop",
+    "Raise and open the silver laptop with foldable parts.",
+    "With the left arm, open the wood surrounded laptop's lid.",
+    "Open the silver laptop by lifting its lid.",
+    "Raise the top of the laptop with black textured screen",
+    "Lift the keyboard laptop lid completely.",
+    "Use the left arm to raise the silver laptop with black keyboard.",
+    "Pull the laptop with wood panel background upward lightly.",
+    "Gently lift the black screen laptop using the left arm",
+    "Raise the metal laptop using the left arm.",
+    "Slide the laptop with black textured screen open with the left arm.",
+    "Lift the silver laptop with foldable parts's lid using the left arm.",
+    "Use the left arm to open the laptop with wood panel background.",
+    "Gently raise the laptop with black textured screen using the left arm.",
+    "Lift the silver laptop with black keyboard to open.",
+    "Use the left arm to open the silver laptop.",
+    "Open the smooth textured laptop lifting with the left arm",
+    "Pull the screen of the black and silver laptop.",
+    "Raise the smooth textured laptop using the left arm firmly.",
+    "Push the silver laptop with foldable parts's lid upward using the left arm.",
+    "Raise the laptop with black textured screen's top section.",
+    "Gently open the medium foldable silver laptop.",
+    "Raise the lid of the silver laptop.",
+    "Lift the medium foldable silver laptop open with the left arm.",
+    "Open the medium foldable silver laptop completely.",
+    "Lift the laptop with wood panel background's lid upwards.",
+    "Lift the keyboard laptop slightly.",
+    "Use the left arm to open the smooth textured laptop",
+    "Raise the black screen laptop using the left arm.",
+    "Carefully open the keyboard laptop using the left arm",
+    "Pull the lid of the smooth textured laptop upward.",
+    "Grip and lift the wood surrounded laptop's lid.",
+    "Use the left arm to open the smooth textured laptop.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Use the left arm to lift the wood surrounded laptop",
+    "Fully open the the black screen laptop.",
+    "Lift the silver laptop with black keyboard to open it up",
+    "Open the smooth textured laptop carefully with the left arm.",
+    "Open the silver laptop with foldable parts entirely.",
+    "Gently open the silver laptop with foldable parts upward.",
+    "Pull up the lid of the laptop with wood panel background",
+    "Fully lift the metal laptop using the left arm.",
+    "Hold the medium foldable silver laptop steady, lift lid.",
+    "Raise the silver laptop lid with the left arm.",
+    "Raise the black screen laptop lid using the left arm.",
+    "Use the left arm to raise the black screen laptop.",
+    "Pull the black screen laptop open with the left arm.",
+    "Raise the laptop with wood panel background to expose the screen",
+    "Pull the black and silver laptop's lid upward.",
+    "Lift and open the laptop with wood panel background.",
+    "Pull open the metal laptop",
+    "Raise and open the laptop with black textured screen.",
+    "With the left arm, open the black and silver laptop's lid.",
+    "Open the keyboard laptop by lifting its lid.",
+    "Raise the top of the wood surrounded laptop",
+    "Lift the silver laptop with black keyboard lid completely.",
+    "Use the left arm to raise the silver laptop with foldable parts."
+  ],
+  "unseen": [
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Open the foldable laptop with one motion.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Lift the medium laptop with silver body using the left arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Lift the medium laptop with silver body using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode85.json b/open_laptop/demo_clean/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..361043ed8916bdde256092661cbe42ac3525f3a7
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise and open the black laptop with blue bottom panel.",
+    "Pull open the blue-black laptop",
+    "Lift the foldable laptop with screen open with the right arm.",
+    "Raise the lid of the foldable laptop with screen.",
+    "Raise the blue bottom foldable black laptop's top section.",
+    "Open the foldable laptop with screen by lifting its lid.",
+    "Use the right arm to open the black laptop with blue bottom panel.",
+    "Gently open the black laptop with blue bottom panel upward.",
+    "With the right arm, open the medium-sized laptop for work's lid.",
+    "Pull the laptop for browsing and computing open with the right arm.",
+    "Use the right arm to raise the blue base black lid laptop.",
+    "Lift the blue base black lid laptop to open.",
+    "Use the right arm to open the compact black laptop.",
+    "Raise the blue-black laptop lid with the right arm.",
+    "Raise the black-and-blue laptop with keyboard lid using the right arm.",
+    "Gently lift the foldable laptop with screen using the right arm",
+    "Pull the blue-black laptop's lid upward.",
+    "Pull the screen of the black-and-blue laptop with keyboard.",
+    "Raise the laptop for browsing and computing to expose the screen",
+    "Use the right arm to raise the black-and-blue laptop with keyboard.",
+    "Use the right arm to open the foldable laptop with screen",
+    "Fully lift the black-and-blue laptop with keyboard using the right arm.",
+    "Lift the laptop for browsing and computing to open it up",
+    "Use the right arm to raise the medium-sized laptop for work.",
+    "Use the right arm to lift the blue bottom foldable black laptop",
+    "Raise the blue-black laptop using the right arm.",
+    "Open the black laptop with sharp rectangular edges carefully with the right arm.",
+    "Lift the black-and-blue laptop with keyboard's lid using the right arm.",
+    "Pull the blue-black laptop upward lightly.",
+    "Lift and open the blue-black laptop.",
+    "Fully open the the rectangular laptop with foldable hinge.",
+    "Grip and lift the blue base black lid laptop's lid.",
+    "Open the medium-sized laptop for work entirely.",
+    "Gently open the blue-black laptop.",
+    "Raise the top of the compact black laptop",
+    "Raise the black laptop with sharp rectangular edges using the right arm.",
+    "Carefully open the black laptop with sharp rectangular edges using the right arm",
+    "Use the right arm to open the blue bottom foldable black laptop.",
+    "Lift the compact black laptop's lid upwards.",
+    "Gently raise the portable laptop using the right arm.",
+    "Pull the lid of the blue-black laptop upward.",
+    "Lift the laptop for browsing and computing slightly.",
+    "Pull up the lid of the foldable laptop with screen",
+    "Push the medium-sized laptop for work's lid upward using the right arm.",
+    "Lift the compact black laptop lid completely.",
+    "Open the blue base black lid laptop lifting with the right arm",
+    "Open the black laptop with blue bottom panel completely.",
+    "Slide the foldable laptop with screen open with the right arm.",
+    "Raise the medium-sized laptop for work using the right arm firmly.",
+    "Hold the blue base black lid laptop steady, lift lid.",
+    "Raise and open the blue base black lid laptop.",
+    "Pull open the medium-sized laptop for work",
+    "Lift the black-and-blue laptop with keyboard open with the right arm.",
+    "Raise the lid of the black-and-blue laptop with keyboard.",
+    "Raise the laptop for browsing and computing's top section.",
+    "Open the foldable laptop with screen by lifting its lid.",
+    "Use the right arm to open the portable laptop.",
+    "Gently open the black-and-blue laptop with keyboard upward.",
+    "With the right arm, open the black laptop with blue bottom panel's lid.",
+    "Pull the medium-sized laptop for work open with the right arm.",
+    "Use the right arm to raise the blue base black lid laptop.",
+    "Lift the blue-black laptop to open.",
+    "Use the right arm to open the blue-black laptop.",
+    "Raise the black laptop with blue bottom panel lid with the right arm.",
+    "Raise the medium-sized laptop for work lid using the right arm.",
+    "Gently lift the foldable laptop with screen using the right arm",
+    "Pull the medium-sized laptop for work's lid upward.",
+    "Pull the screen of the laptop for browsing and computing.",
+    "Raise the blue bottom foldable black laptop to expose the screen",
+    "Use the right arm to raise the blue-black laptop.",
+    "Use the right arm to open the blue-black laptop",
+    "Fully lift the medium-sized laptop for work using the right arm.",
+    "Lift the compact black laptop to open it up",
+    "Use the right arm to raise the portable laptop.",
+    "Use the right arm to lift the rectangular laptop with foldable hinge",
+    "Raise the compact black laptop using the right arm.",
+    "Open the rectangular laptop with foldable hinge carefully with the right arm.",
+    "Lift the rectangular laptop with foldable hinge's lid using the right arm.",
+    "Pull the portable laptop upward lightly.",
+    "Lift and open the blue bottom foldable black laptop.",
+    "Fully open the the rectangular laptop with foldable hinge.",
+    "Grip and lift the black laptop with blue bottom panel's lid.",
+    "Open the blue-black laptop entirely.",
+    "Gently open the blue-black laptop.",
+    "Raise the top of the black-and-blue laptop with keyboard",
+    "Raise the laptop for browsing and computing using the right arm.",
+    "Carefully open the compact black laptop using the right arm",
+    "Use the right arm to open the medium-sized laptop for work.",
+    "Lift the foldable laptop with screen's lid upwards.",
+    "Gently raise the laptop for browsing and computing using the right arm.",
+    "Pull the lid of the black laptop with sharp rectangular edges upward.",
+    "Lift the blue bottom foldable black laptop slightly.",
+    "Pull up the lid of the medium-sized laptop for work",
+    "Push the medium-sized laptop for work's lid upward using the right arm.",
+    "Lift the medium-sized laptop for work lid completely.",
+    "Open the portable laptop lifting with the right arm",
+    "Open the portable laptop completely.",
+    "Slide the laptop for browsing and computing open with the right arm.",
+    "Raise the laptop for browsing and computing using the right arm firmly.",
+    "Hold the blue-black laptop steady, lift lid."
+  ],
+  "unseen": [
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the black laptop's lid gently.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Pull up the black laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Open the black laptop using the right arm.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the black laptop's lid gently.",
+    "Grab the black laptop and open it.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the black laptop using the right arm.",
+    "Lift the black laptop's lid fully.",
+    "Lift the black laptop's lid gently.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Pull up the black laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Open the black laptop carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the black laptop's lid gently.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Open the black laptop carefully using the right arm.",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Lift the black laptop's lid fully.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Open the black laptop carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Lift the black laptop's lid fully.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Open the black laptop with care",
+    "Lift the black laptop using the right arm",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Grab the black laptop and open it.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the black laptop with one motion.",
+    "Open the black laptop with care",
+    "Lift the black laptop using the right arm",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Grab the black laptop and open it.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the black laptop using the right arm",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Lift the black laptop using the right arm.",
+    "Lift the black laptop's lid fully.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Lift the laptop with display and keyboard using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode86.json b/open_laptop/demo_clean/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0e1ef1b805a82087cf83094114569ea6916bba9
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to open the silver laptop",
+    "Use the left arm to raise the smooth textured laptop.",
+    "Raise the silver laptop with black keyboard using the left arm.",
+    "Pull open the smooth textured laptop",
+    "Gently open the silver laptop with foldable parts.",
+    "Hold the medium foldable silver laptop steady, lift lid.",
+    "Use the left arm to open the silver laptop.",
+    "Lift and open the silver laptop with black keyboard.",
+    "Use the left arm to raise the metal laptop.",
+    "Lift the black and silver laptop open with the left arm.",
+    "Lift the laptop with wood panel background's lid upwards.",
+    "Gently raise the black screen laptop using the left arm.",
+    "Raise the lid of the smooth textured laptop.",
+    "Use the left arm to lift the black screen laptop",
+    "Raise the black and silver laptop lid with the left arm.",
+    "Lift the silver laptop with black keyboard to open.",
+    "Pull the lid of the laptop with black textured screen upward.",
+    "Open the laptop with wood panel background by lifting its lid.",
+    "Open the silver laptop with foldable parts carefully with the left arm.",
+    "Raise and open the silver laptop with black keyboard.",
+    "Use the left arm to raise the keyboard laptop.",
+    "Lift the keyboard laptop lid completely.",
+    "Raise the top of the silver laptop",
+    "Raise the silver laptop's top section.",
+    "Raise the smooth textured laptop using the left arm firmly.",
+    "Raise the silver laptop with black keyboard to expose the screen",
+    "Slide the keyboard laptop open with the left arm.",
+    "Lift the medium foldable silver laptop's lid using the left arm.",
+    "Open the silver laptop with black keyboard completely.",
+    "With the left arm, open the black screen laptop's lid.",
+    "Gently open the silver laptop with black keyboard upward.",
+    "Use the left arm to open the smooth textured laptop.",
+    "Gently lift the silver laptop with black keyboard using the left arm",
+    "Fully lift the laptop with black textured screen using the left arm.",
+    "Open the wood surrounded laptop entirely.",
+    "Pull the silver laptop with black keyboard's lid upward.",
+    "Fully open the the medium foldable silver laptop.",
+    "Push the black screen laptop's lid upward using the left arm.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Pull up the lid of the black screen laptop",
+    "Open the keyboard laptop lifting with the left arm",
+    "Use the left arm to open the metal laptop.",
+    "Carefully open the silver laptop using the left arm",
+    "Pull the laptop with wood panel background open with the left arm.",
+    "Raise the medium foldable silver laptop lid using the left arm.",
+    "Pull the screen of the keyboard laptop.",
+    "Pull the silver laptop with black keyboard upward lightly.",
+    "Lift the smooth textured laptop to open it up",
+    "Grip and lift the smooth textured laptop's lid.",
+    "Lift the silver laptop with foldable parts slightly.",
+    "Use the left arm to open the silver laptop",
+    "Use the left arm to raise the laptop with black textured screen.",
+    "Raise the silver laptop with black keyboard using the left arm.",
+    "Pull open the medium foldable silver laptop",
+    "Gently open the medium foldable silver laptop.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Use the left arm to open the laptop with wood panel background.",
+    "Lift and open the silver laptop with black keyboard.",
+    "Use the left arm to raise the silver laptop with foldable parts.",
+    "Lift the wood surrounded laptop open with the left arm.",
+    "Lift the laptop with wood panel background's lid upwards.",
+    "Gently raise the smooth textured laptop using the left arm.",
+    "Raise the lid of the silver laptop with black keyboard.",
+    "Use the left arm to lift the laptop with black textured screen",
+    "Raise the medium foldable silver laptop lid with the left arm.",
+    "Lift the silver laptop with foldable parts to open.",
+    "Pull the lid of the wood surrounded laptop upward.",
+    "Open the laptop with wood panel background by lifting its lid.",
+    "Open the wood surrounded laptop carefully with the left arm.",
+    "Raise and open the metal laptop.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Lift the laptop with black textured screen lid completely.",
+    "Raise the top of the black screen laptop",
+    "Raise the wood surrounded laptop's top section.",
+    "Raise the black and silver laptop using the left arm firmly.",
+    "Raise the keyboard laptop to expose the screen",
+    "Slide the silver laptop open with the left arm.",
+    "Lift the black and silver laptop's lid using the left arm.",
+    "Open the smooth textured laptop completely.",
+    "With the left arm, open the metal laptop's lid.",
+    "Gently open the keyboard laptop upward.",
+    "Use the left arm to open the keyboard laptop.",
+    "Gently lift the silver laptop using the left arm",
+    "Fully lift the silver laptop with foldable parts using the left arm.",
+    "Open the medium foldable silver laptop entirely.",
+    "Pull the medium foldable silver laptop's lid upward.",
+    "Fully open the the laptop with wood panel background.",
+    "Push the smooth textured laptop's lid upward using the left arm.",
+    "Raise the smooth textured laptop using the left arm.",
+    "Pull up the lid of the silver laptop with black keyboard",
+    "Open the silver laptop with black keyboard lifting with the left arm",
+    "Use the left arm to open the black and silver laptop.",
+    "Carefully open the silver laptop with black keyboard using the left arm",
+    "Pull the silver laptop with foldable parts open with the left arm.",
+    "Raise the metal laptop lid using the left arm.",
+    "Pull the screen of the silver laptop.",
+    "Pull the silver laptop with black keyboard upward lightly.",
+    "Lift the smooth textured laptop to open it up",
+    "Grip and lift the wood surrounded laptop's lid.",
+    "Lift the silver laptop with black keyboard slightly."
+  ],
+  "unseen": [
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode87.json b/open_laptop/demo_clean/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..7218e8b9a4013d0ee64ab1a766eccbbc4a92fa2d
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the rectangular laptop with Toshiba logo's top section.",
+    "Raise the laptop with silver keyboard lid using the right arm.",
+    "Pull the black laptop with reflective screen open with the right arm.",
+    "Open the portable folding laptop lifting with the right arm",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Raise the portable folding laptop using the right arm.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Raise the folding laptop with screen and keyboard using the right arm firmly.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Lift the medium-sized laptop's lid using the right arm.",
+    "Pull the black and silver laptop upward lightly.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Gently open the black and silver laptop.",
+    "Slide the portable folding laptop open with the right arm.",
+    "Lift and open the Toshiba laptop with folding design.",
+    "Pull open the medium-sized laptop",
+    "With the right arm, open the matte laptop with smooth screen's lid.",
+    "Carefully open the Toshiba laptop with folding design using the right arm",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Use the right arm to open the folding laptop with screen and keyboard",
+    "Raise and open the medium-sized laptop.",
+    "Pull the screen of the compact black and silver computer.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Lift the matte laptop with smooth screen open with the right arm.",
+    "Open the black and silver laptop completely.",
+    "Fully open the the silver keyboard laptop.",
+    "Lift the black laptop with reflective screen lid completely.",
+    "Use the right arm to lift the Toshiba laptop with folding design",
+    "Lift the portable folding laptop slightly.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Lift the portable folding laptop to open.",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "Gently raise the compact black and silver computer using the right arm.",
+    "Raise the medium-sized laptop to expose the screen",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Open the black laptop with reflective screen entirely.",
+    "Use the right arm to open the portable folding laptop.",
+    "Gently lift the silver keyboard laptop using the right arm",
+    "Open the black laptop with reflective screen carefully with the right arm.",
+    "Open the Toshiba laptop with folding design by lifting its lid.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Gently open the device with flat keyboard and screen upward.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Push the folding laptop with screen and keyboard's lid upward using the right arm.",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Grip and lift the rectangular laptop with Toshiba logo's lid.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Raise the portable folding laptop lid using the right arm.",
+    "Pull the folding laptop with screen and keyboard open with the right arm.",
+    "Open the folding laptop with screen and keyboard lifting with the right arm",
+    "Fully lift the folding laptop with screen and keyboard using the right arm.",
+    "Raise the silver keyboard laptop using the right arm.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Raise the black and silver laptop using the right arm firmly.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Pull the device with flat keyboard and screen upward lightly.",
+    "Lift the device with flat keyboard and screen to open it up",
+    "Gently open the medium-sized laptop.",
+    "Slide the compact black and silver computer open with the right arm.",
+    "Lift and open the black laptop with reflective screen.",
+    "Pull open the silver keyboard laptop",
+    "With the right arm, open the black and silver laptop's lid.",
+    "Carefully open the rectangular laptop with Toshiba logo using the right arm",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Use the right arm to open the medium-sized laptop",
+    "Raise and open the laptop with silver keyboard.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Lift the black laptop with reflective screen open with the right arm.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Fully open the the medium-sized laptop.",
+    "Lift the portable folding laptop lid completely.",
+    "Use the right arm to lift the black laptop with reflective screen",
+    "Lift the laptop with silver keyboard slightly.",
+    "Raise the lid of the matte laptop with smooth screen.",
+    "Lift the medium-sized laptop to open.",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "Gently raise the black and silver laptop using the right arm.",
+    "Raise the matte laptop with smooth screen to expose the screen",
+    "Use the right arm to open the black and silver laptop.",
+    "Open the black and silver laptop entirely.",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Gently lift the black and silver laptop using the right arm",
+    "Open the medium-sized laptop carefully with the right arm.",
+    "Open the medium-sized laptop by lifting its lid.",
+    "Raise the top of the black laptop with reflective screen",
+    "Pull up the lid of the black and silver laptop",
+    "Gently open the Toshiba laptop with folding design upward.",
+    "Lift the matte laptop with smooth screen's lid upwards.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Pull the medium-sized laptop's lid upward.",
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo."
+  ],
+  "unseen": [
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer using the right arm",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the portable Toshiba laptop's lid."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode88.json b/open_laptop/demo_clean/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca76f6f68c8d5d881cfea38c19cd2899f1b2fa35
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the laptop with black textured screen completely.",
+    "Open the keyboard laptop lifting with the right arm",
+    "Use the right arm to open the keyboard laptop.",
+    "Hold the metal laptop steady, lift lid.",
+    "Lift the silver laptop with black keyboard to open it up",
+    "Gently open the wood surrounded laptop upward.",
+    "Use the right arm to lift the medium foldable silver laptop",
+    "Lift the silver laptop open with the right arm.",
+    "Push the black screen laptop's lid upward using the right arm.",
+    "Raise and open the laptop with wood panel background.",
+    "Grip and lift the laptop with wood panel background's lid.",
+    "Slide the medium foldable silver laptop open with the right arm.",
+    "Use the right arm to open the smooth textured laptop.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Pull open the black screen laptop",
+    "Pull up the lid of the black and silver laptop",
+    "Raise the black screen laptop's top section.",
+    "Pull the metal laptop open with the right arm.",
+    "Gently open the smooth textured laptop.",
+    "Use the right arm to raise the silver laptop with foldable parts.",
+    "Carefully open the medium foldable silver laptop using the right arm",
+    "Pull the lid of the silver laptop with foldable parts upward.",
+    "Lift the metal laptop slightly.",
+    "Fully open the the medium foldable silver laptop.",
+    "Fully lift the laptop with wood panel background using the right arm.",
+    "Pull the metal laptop's lid upward.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Use the right arm to raise the silver laptop with black keyboard.",
+    "Raise the black screen laptop using the right arm.",
+    "Lift the laptop with black textured screen lid completely.",
+    "Gently lift the medium foldable silver laptop using the right arm",
+    "Use the right arm to open the black screen laptop",
+    "Lift the medium foldable silver laptop's lid using the right arm.",
+    "Raise the smooth textured laptop lid with the right arm.",
+    "Raise the black and silver laptop to expose the screen",
+    "Use the right arm to open the laptop with wood panel background.",
+    "Raise the keyboard laptop using the right arm firmly.",
+    "Use the right arm to raise the medium foldable silver laptop.",
+    "Lift and open the silver laptop with black keyboard.",
+    "Gently raise the smooth textured laptop using the right arm.",
+    "Raise the top of the silver laptop with foldable parts",
+    "With the right arm, open the keyboard laptop's lid.",
+    "Raise the wood surrounded laptop lid using the right arm.",
+    "Lift the black and silver laptop to open.",
+    "Raise the smooth textured laptop using the right arm.",
+    "Pull the silver laptop with black keyboard upward lightly.",
+    "Open the metal laptop carefully with the right arm.",
+    "Open the silver laptop with black keyboard entirely.",
+    "Pull the screen of the metal laptop.",
+    "Raise the lid of the black screen laptop.",
+    "Open the keyboard laptop completely.",
+    "Open the black screen laptop lifting with the right arm",
+    "Use the right arm to open the keyboard laptop.",
+    "Hold the medium foldable silver laptop steady, lift lid.",
+    "Lift the wood surrounded laptop to open it up",
+    "Gently open the smooth textured laptop upward.",
+    "Use the right arm to lift the silver laptop with black keyboard",
+    "Lift the medium foldable silver laptop open with the right arm.",
+    "Push the medium foldable silver laptop's lid upward using the right arm.",
+    "Raise and open the black screen laptop.",
+    "Grip and lift the wood surrounded laptop's lid.",
+    "Slide the medium foldable silver laptop open with the right arm.",
+    "Use the right arm to open the metal laptop.",
+    "Open the smooth textured laptop by lifting its lid.",
+    "Pull open the laptop with wood panel background",
+    "Pull up the lid of the silver laptop with foldable parts",
+    "Raise the laptop with wood panel background's top section.",
+    "Pull the medium foldable silver laptop open with the right arm.",
+    "Gently open the silver laptop with foldable parts.",
+    "Use the right arm to raise the laptop with wood panel background.",
+    "Carefully open the laptop with wood panel background using the right arm",
+    "Pull the lid of the silver laptop upward.",
+    "Lift the wood surrounded laptop slightly.",
+    "Fully open the the black screen laptop.",
+    "Fully lift the metal laptop using the right arm.",
+    "Pull the silver laptop's lid upward.",
+    "Lift the metal laptop's lid upwards.",
+    "Use the right arm to raise the silver laptop.",
+    "Raise the keyboard laptop using the right arm.",
+    "Lift the keyboard laptop lid completely.",
+    "Gently lift the medium foldable silver laptop using the right arm",
+    "Use the right arm to open the wood surrounded laptop",
+    "Lift the black screen laptop's lid using the right arm.",
+    "Raise the laptop with wood panel background lid with the right arm.",
+    "Raise the silver laptop with foldable parts to expose the screen",
+    "Use the right arm to open the wood surrounded laptop.",
+    "Raise the black screen laptop using the right arm firmly.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Lift and open the laptop with black textured screen.",
+    "Gently raise the black and silver laptop using the right arm.",
+    "Raise the top of the black and silver laptop",
+    "With the right arm, open the silver laptop's lid.",
+    "Raise the medium foldable silver laptop lid using the right arm.",
+    "Lift the medium foldable silver laptop to open.",
+    "Raise the laptop with wood panel background using the right arm.",
+    "Pull the laptop with wood panel background upward lightly.",
+    "Open the metal laptop carefully with the right arm.",
+    "Open the wood surrounded laptop entirely.",
+    "Pull the screen of the medium foldable silver laptop.",
+    "Raise the lid of the black screen laptop."
+  ],
+  "unseen": [
+    "Open the foldable laptop using the right arm.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the foldable laptop carefully using the right arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Grab the medium laptop with silver body and open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode89.json b/open_laptop/demo_clean/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..232474f796a6f5312c5f6405be48ae5ef2fa55ee
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the portable silver laptop to open it up",
+    "Raise the top of the blue-screen laptop",
+    "Lift the laptop for computing to open.",
+    "Open the portable silver laptop entirely.",
+    "Fully open the the laptop with smooth texture.",
+    "Use the right arm to raise the hinged laptop with display.",
+    "Use the right arm to lift the blue-screen laptop",
+    "Raise the lid of the rectangular laptop with hinge.",
+    "Use the right arm to open the laptop for computing.",
+    "Pull the lid of the medium-sized laptop upward.",
+    "Push the laptop with blue screen's lid upward using the right arm.",
+    "Raise the blue-screen laptop to expose the screen",
+    "Lift the metallic laptop open with the right arm.",
+    "Gently lift the laptop with silver base using the right arm",
+    "Pull up the lid of the portable silver laptop",
+    "Pull the blue-screen laptop upward lightly.",
+    "Raise the laptop with blue screen using the right arm firmly.",
+    "Pull open the laptop with blue screen",
+    "Grip and lift the laptop featuring smooth metal finish's lid.",
+    "Gently open the laptop featuring smooth metal finish.",
+    "Pull the laptop with silver base open with the right arm.",
+    "Pull the blue-screen laptop's lid upward.",
+    "Lift the metallic laptop's lid upwards.",
+    "Use the right arm to open the laptop with blue screen",
+    "Open the laptop for computing lifting with the right arm",
+    "Lift the laptop for computing's lid using the right arm.",
+    "Use the right arm to raise the laptop with glass screen.",
+    "With the right arm, open the portable silver laptop's lid.",
+    "Raise the hinged laptop with display lid with the right arm.",
+    "Open the rectangular laptop with hinge completely.",
+    "Raise the laptop with blue screen lid using the right arm.",
+    "Slide the laptop featuring smooth metal finish open with the right arm.",
+    "Use the right arm to raise the metallic laptop.",
+    "Lift the laptop with silver base slightly.",
+    "Open the hinged laptop with display by lifting its lid.",
+    "Use the right arm to open the hinged laptop with display.",
+    "Carefully open the portable silver laptop using the right arm",
+    "Use the right arm to open the laptop for computing.",
+    "Raise the laptop for computing using the right arm.",
+    "Open the laptop with smooth texture carefully with the right arm.",
+    "Raise the medium-sized laptop's top section.",
+    "Pull the screen of the rectangular laptop with hinge.",
+    "Lift and open the hinged laptop with display.",
+    "Gently raise the laptop with blue screen using the right arm.",
+    "Fully lift the portable silver laptop using the right arm.",
+    "Raise and open the rectangular laptop with hinge.",
+    "Gently open the laptop with smooth texture upward.",
+    "Hold the medium-sized laptop steady, lift lid.",
+    "Lift the metallic laptop lid completely.",
+    "Raise the hinged laptop with display using the right arm.",
+    "Lift the laptop with blue screen to open it up",
+    "Raise the top of the laptop with blue screen",
+    "Lift the laptop with glass screen to open.",
+    "Open the rectangular laptop with hinge entirely.",
+    "Fully open the the blue-screen laptop.",
+    "Use the right arm to raise the laptop for computing.",
+    "Use the right arm to lift the laptop with blue screen",
+    "Raise the lid of the rectangular laptop with hinge.",
+    "Use the right arm to open the laptop with smooth texture.",
+    "Pull the lid of the laptop with silver base upward.",
+    "Push the laptop for computing's lid upward using the right arm.",
+    "Raise the laptop with silver base to expose the screen",
+    "Lift the laptop with blue screen open with the right arm.",
+    "Gently lift the rectangular laptop with hinge using the right arm",
+    "Pull up the lid of the laptop for computing",
+    "Pull the hinged laptop with display upward lightly.",
+    "Raise the laptop with blue screen using the right arm firmly.",
+    "Pull open the metallic laptop",
+    "Grip and lift the laptop for computing's lid.",
+    "Gently open the hinged laptop with display.",
+    "Pull the laptop with smooth texture open with the right arm.",
+    "Pull the rectangular laptop with hinge's lid upward.",
+    "Lift the hinged laptop with display's lid upwards.",
+    "Use the right arm to open the portable silver laptop",
+    "Open the laptop with smooth texture lifting with the right arm",
+    "Lift the laptop with smooth texture's lid using the right arm.",
+    "Use the right arm to raise the laptop with silver base.",
+    "With the right arm, open the laptop with glass screen's lid.",
+    "Raise the rectangular laptop with hinge lid with the right arm.",
+    "Open the medium-sized laptop completely.",
+    "Raise the portable silver laptop lid using the right arm.",
+    "Slide the metallic laptop open with the right arm.",
+    "Use the right arm to raise the portable silver laptop.",
+    "Lift the laptop with glass screen slightly.",
+    "Open the laptop with glass screen by lifting its lid.",
+    "Use the right arm to open the laptop with blue screen.",
+    "Carefully open the rectangular laptop with hinge using the right arm",
+    "Use the right arm to open the hinged laptop with display.",
+    "Raise the metallic laptop using the right arm.",
+    "Open the laptop featuring smooth metal finish carefully with the right arm.",
+    "Raise the laptop with blue screen's top section.",
+    "Pull the screen of the medium-sized laptop.",
+    "Lift and open the hinged laptop with display.",
+    "Gently raise the laptop featuring smooth metal finish using the right arm.",
+    "Fully lift the laptop with silver base using the right arm.",
+    "Raise and open the laptop with blue screen.",
+    "Gently open the laptop featuring smooth metal finish upward.",
+    "Hold the medium-sized laptop steady, lift lid.",
+    "Lift the laptop with blue screen lid completely.",
+    "Raise the laptop featuring smooth metal finish using the right arm."
+  ],
+  "unseen": [
+    "Open the sleek laptop with care",
+    "Grab the silver laptop and open it.",
+    "Open the sleek laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the sleek laptop's lid fully.",
+    "Lift the compact silver laptop using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Lift the sleek laptop using the right arm",
+    "Open the sleek laptop with care",
+    "Grab the silver laptop and open it.",
+    "Open the compact silver laptop using the right arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the sleek laptop's lid fully.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Lift the sleek laptop using the right arm",
+    "Open the silver laptop with care",
+    "Grab the sleek laptop and open it.",
+    "Open the sleek laptop using the right arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Lift the compact silver laptop using the right arm",
+    "Open the sleek laptop with care",
+    "Grab the silver laptop and open it.",
+    "Open the sleek laptop using the right arm.",
+    "Pull up the sleek laptop's lid.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the sleek laptop's lid fully.",
+    "Lift the sleek laptop using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Lift the sleek laptop using the right arm",
+    "Open the compact silver laptop with care",
+    "Grab the silver laptop and open it.",
+    "Open the sleek laptop using the right arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the sleek laptop's lid fully.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the sleek laptop using the right arm",
+    "Open the compact silver laptop with care",
+    "Grab the sleek laptop and open it.",
+    "Open the silver laptop using the right arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the silver laptop using the right arm",
+    "Open the silver laptop with care",
+    "Grab the sleek laptop and open it.",
+    "Open the compact silver laptop using the right arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the sleek laptop using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the right arm",
+    "Open the sleek laptop with care",
+    "Grab the sleek laptop and open it.",
+    "Open the compact silver laptop using the right arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the compact silver laptop using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Lift the compact silver laptop using the right arm",
+    "Open the sleek laptop with care",
+    "Grab the compact silver laptop and open it.",
+    "Open the silver laptop using the right arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the compact silver laptop's lid gently.",
+    "Lift the silver laptop using the right arm",
+    "Open the silver laptop with care",
+    "Grab the compact silver laptop and open it.",
+    "Open the silver laptop using the right arm.",
+    "Pull up the sleek laptop's lid.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the sleek laptop's lid fully.",
+    "Lift the sleek laptop using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode9.json b/open_laptop/demo_clean/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..faa90d0c6ac662179a482a738f29adcef6c517b3
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the portable laptop upward lightly.",
+    "Raise the compact black laptop using the left arm.",
+    "Pull the lid of the compact black laptop upward.",
+    "Grip and lift the portable laptop's lid.",
+    "Lift the laptop for browsing and computing open with the left arm.",
+    "Gently open the foldable laptop with screen upward.",
+    "Lift and open the compact black laptop.",
+    "Lift the black-and-blue laptop with keyboard's lid upwards.",
+    "Fully lift the rectangular laptop with foldable hinge using the left arm.",
+    "Open the blue-black laptop completely.",
+    "Pull the black-and-blue laptop with keyboard's lid upward.",
+    "Lift the portable laptop to open it up",
+    "With the left arm, open the black laptop with sharp rectangular edges's lid.",
+    "Use the left arm to lift the black laptop with sharp rectangular edges",
+    "Use the left arm to open the black laptop with sharp rectangular edges.",
+    "Use the left arm to raise the black laptop with sharp rectangular edges.",
+    "Pull open the blue bottom foldable black laptop",
+    "Raise and open the foldable laptop with screen.",
+    "Push the blue base black lid laptop's lid upward using the left arm.",
+    "Use the left arm to raise the black laptop with sharp rectangular edges.",
+    "Pull the blue bottom foldable black laptop open with the left arm.",
+    "Raise the top of the blue base black lid laptop",
+    "Carefully open the medium-sized laptop for work using the left arm",
+    "Pull up the lid of the laptop for browsing and computing",
+    "Raise the portable laptop using the left arm firmly.",
+    "Pull the screen of the black laptop with blue bottom panel.",
+    "Open the medium-sized laptop for work by lifting its lid.",
+    "Use the left arm to open the black-and-blue laptop with keyboard.",
+    "Lift the compact black laptop lid completely.",
+    "Open the blue-black laptop lifting with the left arm",
+    "Lift the rectangular laptop with foldable hinge slightly.",
+    "Use the left arm to open the black laptop with sharp rectangular edges",
+    "Lift the black laptop with blue bottom panel's lid using the left arm.",
+    "Lift the black-and-blue laptop with keyboard to open.",
+    "Open the black laptop with blue bottom panel carefully with the left arm.",
+    "Use the left arm to raise the black laptop with blue bottom panel.",
+    "Raise the black laptop with sharp rectangular edges lid with the left arm.",
+    "Gently open the compact black laptop.",
+    "Raise the foldable laptop with screen using the left arm.",
+    "Slide the blue bottom foldable black laptop open with the left arm.",
+    "Fully open the the rectangular laptop with foldable hinge.",
+    "Open the black laptop with blue bottom panel entirely.",
+    "Raise the blue-black laptop to expose the screen",
+    "Gently lift the portable laptop using the left arm",
+    "Raise the medium-sized laptop for work lid using the left arm.",
+    "Hold the foldable laptop with screen steady, lift lid.",
+    "Raise the black laptop with blue bottom panel's top section.",
+    "Gently raise the blue-black laptop using the left arm.",
+    "Raise the lid of the black laptop with sharp rectangular edges.",
+    "Use the left arm to open the black-and-blue laptop with keyboard.",
+    "Pull the black-and-blue laptop with keyboard upward lightly.",
+    "Raise the foldable laptop with screen using the left arm.",
+    "Pull the lid of the foldable laptop with screen upward.",
+    "Grip and lift the blue-black laptop's lid.",
+    "Lift the foldable laptop with screen open with the left arm.",
+    "Gently open the foldable laptop with screen upward.",
+    "Lift and open the medium-sized laptop for work.",
+    "Lift the blue base black lid laptop's lid upwards.",
+    "Fully lift the foldable laptop with screen using the left arm.",
+    "Open the blue bottom foldable black laptop completely.",
+    "Pull the foldable laptop with screen's lid upward.",
+    "Lift the blue base black lid laptop to open it up",
+    "With the left arm, open the laptop for browsing and computing's lid.",
+    "Use the left arm to lift the blue-black laptop",
+    "Use the left arm to open the rectangular laptop with foldable hinge.",
+    "Use the left arm to raise the blue bottom foldable black laptop.",
+    "Pull open the blue-black laptop",
+    "Raise and open the black-and-blue laptop with keyboard.",
+    "Push the laptop for browsing and computing's lid upward using the left arm.",
+    "Use the left arm to raise the black laptop with blue bottom panel.",
+    "Pull the foldable laptop with screen open with the left arm.",
+    "Raise the top of the black laptop with sharp rectangular edges",
+    "Carefully open the black laptop with blue bottom panel using the left arm",
+    "Pull up the lid of the blue bottom foldable black laptop",
+    "Raise the compact black laptop using the left arm firmly.",
+    "Pull the screen of the blue base black lid laptop.",
+    "Open the black-and-blue laptop with keyboard by lifting its lid.",
+    "Use the left arm to open the compact black laptop.",
+    "Lift the blue bottom foldable black laptop lid completely.",
+    "Open the blue bottom foldable black laptop lifting with the left arm",
+    "Lift the rectangular laptop with foldable hinge slightly.",
+    "Use the left arm to open the blue-black laptop",
+    "Lift the blue bottom foldable black laptop's lid using the left arm.",
+    "Lift the blue base black lid laptop to open.",
+    "Open the black-and-blue laptop with keyboard carefully with the left arm.",
+    "Use the left arm to raise the compact black laptop.",
+    "Raise the black laptop with blue bottom panel lid with the left arm.",
+    "Gently open the blue-black laptop.",
+    "Raise the black laptop with blue bottom panel using the left arm.",
+    "Slide the laptop for browsing and computing open with the left arm.",
+    "Fully open the the black laptop with blue bottom panel.",
+    "Open the blue-black laptop entirely.",
+    "Raise the blue bottom foldable black laptop to expose the screen",
+    "Gently lift the blue base black lid laptop using the left arm",
+    "Raise the rectangular laptop with foldable hinge lid using the left arm.",
+    "Hold the portable laptop steady, lift lid.",
+    "Raise the blue-black laptop's top section.",
+    "Gently raise the foldable laptop with screen using the left arm.",
+    "Raise the lid of the black-and-blue laptop with keyboard.",
+    "Use the left arm to open the black-and-blue laptop with keyboard."
+  ],
+  "unseen": [
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard with one motion.",
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the black laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop with one motion.",
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the black laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Grab the black laptop and open it.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard with one motion.",
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the black laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the black laptop with one motion.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard with one motion.",
+    "Open the laptop with display and keyboard with care",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Pull up the black laptop's lid.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the black laptop with one motion.",
+    "Open the laptop with display and keyboard with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard with one motion.",
+    "Open the smooth black plastic laptop with care",
+    "Open the black laptop using the left arm.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the black laptop's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the black laptop and open it.",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the black laptop with one motion.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop with one motion.",
+    "Open the smooth black plastic laptop with care",
+    "Open the black laptop using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Grab the black laptop and open it.",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop with one motion.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode90.json b/open_laptop/demo_clean/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cb91e343e2a04bb5da61eddcf4efb1c93de1267
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise and open the laptop featuring textured exterior.",
+    "Use the right arm to open the compact black laptop.",
+    "Raise the hinged laptop with screen and base using the right arm.",
+    "Gently open the compact black laptop upward.",
+    "Pull the laptop with screen and keyboard open with the right arm.",
+    "Open the hinged laptop with screen and base carefully with the right arm.",
+    "Pull the screen of the laptop with red logo underside.",
+    "Lift the laptop with screen and keyboard to open.",
+    "Use the right arm to open the medium-sized laptop with black body.",
+    "Raise the sleek laptop design using the right arm firmly.",
+    "Raise the hinged laptop with screen and base lid using the right arm.",
+    "Lift the black laptop slightly.",
+    "Raise the lightweight laptop using the right arm.",
+    "Lift the foldable laptop with patterned keyboard to open it up",
+    "Raise the sleek laptop design lid with the right arm.",
+    "Open the laptop with screen and keyboard lifting with the right arm",
+    "Fully lift the black laptop with red accents using the right arm.",
+    "Raise the laptop with red logo underside's top section.",
+    "Gently open the medium-sized laptop with black body.",
+    "Open the laptop featuring textured exterior completely.",
+    "Hold the laptop with screen and keyboard steady, lift lid.",
+    "Use the right arm to open the laptop featuring textured exterior.",
+    "Lift the foldable laptop with patterned keyboard lid completely.",
+    "Push the black laptop's lid upward using the right arm.",
+    "Open the black laptop with red accents entirely.",
+    "Raise the sleek laptop design to expose the screen",
+    "Use the right arm to open the medium-sized laptop with black body",
+    "Lift the black metallic laptop's lid upwards.",
+    "Use the right arm to raise the laptop featuring textured exterior.",
+    "Gently raise the hinged laptop with screen and base using the right arm.",
+    "Slide the black metallic laptop open with the right arm.",
+    "Pull the lid of the black laptop upward.",
+    "Raise the top of the compact black laptop",
+    "Use the right arm to raise the compact black laptop.",
+    "Fully open the the hinged laptop with screen and base.",
+    "Use the right arm to lift the sleek laptop design",
+    "Use the right arm to raise the black laptop.",
+    "Lift the medium-sized laptop with black body's lid using the right arm.",
+    "With the right arm, open the sleek laptop design's lid.",
+    "Pull up the lid of the laptop with red logo underside",
+    "Carefully open the sleek laptop design using the right arm",
+    "Raise the lid of the black laptop with red accents.",
+    "Pull open the black laptop",
+    "Gently lift the hinged laptop with screen and base using the right arm",
+    "Lift and open the laptop featuring textured exterior.",
+    "Grip and lift the black metallic laptop's lid.",
+    "Pull the laptop featuring textured exterior's lid upward.",
+    "Pull the laptop with screen and keyboard upward lightly.",
+    "Lift the lightweight laptop open with the right arm.",
+    "Open the lightweight laptop by lifting its lid.",
+    "Raise and open the black metallic laptop.",
+    "Use the right arm to open the foldable laptop with patterned keyboard.",
+    "Raise the laptop featuring textured exterior using the right arm.",
+    "Gently open the laptop featuring textured exterior upward.",
+    "Pull the black laptop with red accents open with the right arm.",
+    "Open the compact black laptop carefully with the right arm.",
+    "Pull the screen of the laptop with red logo underside.",
+    "Lift the black laptop to open.",
+    "Use the right arm to open the black laptop.",
+    "Raise the lightweight laptop using the right arm firmly.",
+    "Raise the hinged laptop with screen and base lid using the right arm.",
+    "Lift the foldable laptop with patterned keyboard slightly.",
+    "Raise the black metallic laptop using the right arm.",
+    "Lift the laptop featuring textured exterior to open it up",
+    "Raise the lightweight laptop lid with the right arm.",
+    "Open the lightweight laptop lifting with the right arm",
+    "Fully lift the sleek laptop design using the right arm.",
+    "Raise the laptop with red logo underside's top section.",
+    "Gently open the foldable laptop with patterned keyboard.",
+    "Open the sleek laptop design completely.",
+    "Hold the lightweight laptop steady, lift lid.",
+    "Use the right arm to open the compact black laptop.",
+    "Lift the foldable laptop with patterned keyboard lid completely.",
+    "Push the compact black laptop's lid upward using the right arm.",
+    "Open the laptop featuring textured exterior entirely.",
+    "Raise the hinged laptop with screen and base to expose the screen",
+    "Use the right arm to open the compact black laptop",
+    "Lift the black metallic laptop's lid upwards.",
+    "Use the right arm to raise the lightweight laptop.",
+    "Gently raise the laptop with red logo underside using the right arm.",
+    "Slide the laptop with red logo underside open with the right arm.",
+    "Pull the lid of the black laptop with red accents upward.",
+    "Raise the top of the laptop with screen and keyboard",
+    "Use the right arm to raise the compact black laptop.",
+    "Fully open the the laptop with screen and keyboard.",
+    "Use the right arm to lift the foldable laptop with patterned keyboard",
+    "Use the right arm to raise the medium-sized laptop with black body.",
+    "Lift the lightweight laptop's lid using the right arm.",
+    "With the right arm, open the black metallic laptop's lid.",
+    "Pull up the lid of the foldable laptop with patterned keyboard",
+    "Carefully open the lightweight laptop using the right arm",
+    "Raise the lid of the black laptop.",
+    "Pull open the laptop with screen and keyboard",
+    "Gently lift the laptop with screen and keyboard using the right arm",
+    "Lift and open the foldable laptop with patterned keyboard.",
+    "Grip and lift the sleek laptop design's lid.",
+    "Pull the laptop with screen and keyboard's lid upward.",
+    "Pull the laptop with screen and keyboard upward lightly.",
+    "Lift the hinged laptop with screen and base open with the right arm.",
+    "Open the black laptop with red accents by lifting its lid."
+  ],
+  "unseen": [
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the portable laptop using the right arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the portable laptop using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop using the right arm.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the portable laptop using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Grab the portable laptop and open it.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Open the portable laptop carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Open the portable laptop using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the portable laptop using the right arm.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the portable laptop with one motion.",
+    "Open the portable laptop using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the portable laptop's lid fully.",
+    "Lift the portable laptop using the right arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the portable laptop using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Grab the portable laptop and open it.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the portable laptop using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop using the right arm.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the portable laptop and open it.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the portable laptop's lid fully.",
+    "Lift the portable laptop using the right arm.",
+    "Lift the portable laptop's lid gently.",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Grab the portable laptop and open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode91.json b/open_laptop/demo_clean/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..16fa82df61fcff749b17e77e96ba4c40fb585965
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to raise the laptop with blue screen.",
+    "Lift the laptop with glass screen lid completely.",
+    "Raise the laptop with glass screen using the left arm.",
+    "Use the left arm to raise the laptop for computing.",
+    "Fully open the the hinged laptop with display.",
+    "Open the portable silver laptop carefully with the left arm.",
+    "Open the laptop with smooth texture entirely.",
+    "Raise and open the metallic laptop.",
+    "Lift the laptop with blue screen's lid upwards.",
+    "Slide the laptop for computing open with the left arm.",
+    "Use the left arm to open the laptop featuring smooth metal finish.",
+    "Pull up the lid of the laptop with smooth texture",
+    "Gently lift the portable silver laptop using the left arm",
+    "Push the medium-sized laptop's lid upward using the left arm.",
+    "Use the left arm to raise the rectangular laptop with hinge.",
+    "Raise the laptop with glass screen lid with the left arm.",
+    "Open the laptop for computing by lifting its lid.",
+    "Hold the laptop with smooth texture steady, lift lid.",
+    "Use the left arm to open the laptop with glass screen.",
+    "Use the left arm to open the medium-sized laptop.",
+    "Fully lift the rectangular laptop with hinge using the left arm.",
+    "Raise the laptop featuring smooth metal finish's top section.",
+    "Use the left arm to lift the blue-screen laptop",
+    "Carefully open the hinged laptop with display using the left arm",
+    "Pull the laptop with smooth texture's lid upward.",
+    "Grip and lift the hinged laptop with display's lid.",
+    "Raise the top of the blue-screen laptop",
+    "Lift the laptop with silver base open with the left arm.",
+    "Pull open the blue-screen laptop",
+    "Lift the blue-screen laptop slightly.",
+    "With the left arm, open the portable silver laptop's lid.",
+    "Lift the hinged laptop with display's lid using the left arm.",
+    "Open the metallic laptop lifting with the left arm",
+    "Open the metallic laptop completely.",
+    "Raise the metallic laptop to expose the screen",
+    "Pull the screen of the laptop with glass screen.",
+    "Pull the medium-sized laptop open with the left arm.",
+    "Raise the portable silver laptop using the left arm.",
+    "Gently raise the metallic laptop using the left arm.",
+    "Gently open the laptop with blue screen.",
+    "Pull the lid of the rectangular laptop with hinge upward.",
+    "Lift the laptop with glass screen to open.",
+    "Raise the laptop featuring smooth metal finish using the left arm firmly.",
+    "Pull the laptop featuring smooth metal finish upward lightly.",
+    "Use the left arm to open the laptop with silver base",
+    "Lift and open the laptop with blue screen.",
+    "Gently open the laptop with smooth texture upward.",
+    "Lift the metallic laptop to open it up",
+    "Raise the lid of the laptop with blue screen.",
+    "Raise the laptop featuring smooth metal finish lid using the left arm.",
+    "Use the left arm to raise the laptop with blue screen.",
+    "Lift the hinged laptop with display lid completely.",
+    "Raise the rectangular laptop with hinge using the left arm.",
+    "Use the left arm to raise the laptop with glass screen.",
+    "Fully open the the laptop with blue screen.",
+    "Open the laptop with smooth texture carefully with the left arm.",
+    "Open the medium-sized laptop entirely.",
+    "Raise and open the laptop featuring smooth metal finish.",
+    "Lift the laptop with smooth texture's lid upwards.",
+    "Slide the hinged laptop with display open with the left arm.",
+    "Use the left arm to open the portable silver laptop.",
+    "Pull up the lid of the portable silver laptop",
+    "Gently lift the blue-screen laptop using the left arm",
+    "Push the laptop with smooth texture's lid upward using the left arm.",
+    "Use the left arm to raise the hinged laptop with display.",
+    "Raise the laptop for computing lid with the left arm.",
+    "Open the laptop for computing by lifting its lid.",
+    "Hold the laptop featuring smooth metal finish steady, lift lid.",
+    "Use the left arm to open the portable silver laptop.",
+    "Use the left arm to open the hinged laptop with display.",
+    "Fully lift the laptop for computing using the left arm.",
+    "Raise the portable silver laptop's top section.",
+    "Use the left arm to lift the laptop with blue screen",
+    "Carefully open the medium-sized laptop using the left arm",
+    "Pull the hinged laptop with display's lid upward.",
+    "Grip and lift the portable silver laptop's lid.",
+    "Raise the top of the rectangular laptop with hinge",
+    "Lift the laptop with glass screen open with the left arm.",
+    "Pull open the laptop with silver base",
+    "Lift the portable silver laptop slightly.",
+    "With the left arm, open the laptop with blue screen's lid.",
+    "Lift the laptop for computing's lid using the left arm.",
+    "Open the medium-sized laptop lifting with the left arm",
+    "Open the laptop with blue screen completely.",
+    "Raise the blue-screen laptop to expose the screen",
+    "Pull the screen of the portable silver laptop.",
+    "Pull the laptop with smooth texture open with the left arm.",
+    "Raise the laptop featuring smooth metal finish using the left arm.",
+    "Gently raise the metallic laptop using the left arm.",
+    "Gently open the metallic laptop.",
+    "Pull the lid of the laptop for computing upward.",
+    "Lift the laptop with smooth texture to open.",
+    "Raise the laptop with glass screen using the left arm firmly.",
+    "Pull the rectangular laptop with hinge upward lightly.",
+    "Use the left arm to open the hinged laptop with display",
+    "Lift and open the laptop with smooth texture.",
+    "Gently open the rectangular laptop with hinge upward.",
+    "Lift the medium-sized laptop to open it up",
+    "Raise the lid of the medium-sized laptop.",
+    "Raise the hinged laptop with display lid using the left arm."
+  ],
+  "unseen": [
+    "Open the silver laptop with one motion.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the silver laptop's lid fully.",
+    "Lift the compact silver laptop using the left arm.",
+    "Pull up the sleek laptop's lid.",
+    "Open the silver laptop carefully using the left arm.",
+    "Grab the silver laptop and open it.",
+    "Open the silver laptop using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the compact silver laptop using the left arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the compact silver laptop's lid fully.",
+    "Lift the compact silver laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Grab the compact silver laptop and open it.",
+    "Open the sleek laptop using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop's lid fully.",
+    "Lift the compact silver laptop using the left arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Grab the compact silver laptop and open it.",
+    "Open the sleek laptop using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the compact silver laptop's lid fully.",
+    "Lift the sleek laptop using the left arm.",
+    "Pull up the sleek laptop's lid.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Grab the sleek laptop and open it.",
+    "Open the sleek laptop using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the compact silver laptop's lid fully.",
+    "Lift the silver laptop using the left arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Grab the silver laptop and open it.",
+    "Open the silver laptop using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the compact silver laptop using the left arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop using the left arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Grab the compact silver laptop and open it.",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the compact silver laptop with care",
+    "Lift the compact silver laptop's lid fully.",
+    "Lift the silver laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop carefully using the left arm.",
+    "Grab the sleek laptop and open it.",
+    "Open the sleek laptop using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the compact silver laptop using the left arm",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the compact silver laptop's lid fully.",
+    "Lift the compact silver laptop using the left arm.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Grab the silver laptop and open it.",
+    "Open the compact silver laptop using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the silver laptop using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the sleek laptop with care",
+    "Lift the silver laptop's lid fully.",
+    "Lift the compact silver laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Grab the compact silver laptop and open it.",
+    "Open the compact silver laptop using the left arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the sleek laptop with care",
+    "Lift the compact silver laptop's lid fully.",
+    "Lift the silver laptop using the left arm.",
+    "Pull up the sleek laptop's lid.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Grab the compact silver laptop and open it.",
+    "Open the silver laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode92.json b/open_laptop/demo_clean/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..18c45cc3d04d5a68025de9186b801301a1d74f46
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the top of the rectangular laptop with smooth texture",
+    "Lift the black laptop with smooth body's lid using the left arm.",
+    "Pull the laptop with silver buttons on keyboard upward lightly.",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Raise the black laptop lid using the left arm.",
+    "Use the left arm to open the laptop with wide black lid.",
+    "Raise the black laptop with smooth body using the left arm.",
+    "Use the left arm to open the black laptop",
+    "Use the left arm to lift the laptop with wide black lid",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Open the laptop with rectangular display screen entirely.",
+    "Open the laptop with rectangular display screen completely.",
+    "Raise the lid of the black laptop with smooth body.",
+    "Raise and open the rectangular laptop with smooth texture.",
+    "Lift the black and silver portable laptop lid completely.",
+    "Slide the laptop featuring built-in keyboard open with the left arm.",
+    "Gently open the laptop with rectangular display screen upward.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Lift the rectangular laptop with folding hinge open with the left arm.",
+    "Pull open the laptop with silver buttons on keyboard",
+    "Fully lift the laptop featuring built-in keyboard using the left arm.",
+    "Carefully open the laptop featuring built-in keyboard using the left arm",
+    "Pull the laptop featuring built-in keyboard open with the left arm.",
+    "Use the left arm to open the laptop featuring built-in keyboard.",
+    "With the left arm, open the laptop with silver buttons on keyboard's lid.",
+    "Lift the laptop with silver buttons on keyboard's lid upwards.",
+    "Gently raise the black laptop with smooth body using the left arm.",
+    "Pull the black laptop with smooth body's lid upward.",
+    "Fully open the the laptop with wide black lid.",
+    "Lift and open the black laptop with smooth body.",
+    "Raise the clamshell laptop with flat screen's top section.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Open the laptop with wide black lid carefully with the left arm.",
+    "Gently lift the rectangular laptop with folding hinge using the left arm",
+    "Raise the laptop with rectangular display screen using the left arm firmly.",
+    "Push the laptop with wide black lid's lid upward using the left arm.",
+    "Raise the rectangular laptop with smooth texture lid with the left arm.",
+    "Open the laptop with wide black lid by lifting its lid.",
+    "Lift the rectangular laptop with folding hinge to open.",
+    "Raise the laptop with rectangular display screen using the left arm.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Hold the clamshell laptop with flat screen steady, lift lid.",
+    "Lift the laptop with shiny black surface to open it up",
+    "Open the clamshell laptop with flat screen lifting with the left arm",
+    "Gently open the laptop with rectangular display screen.",
+    "Pull the screen of the laptop with silver buttons on keyboard.",
+    "Use the left arm to raise the laptop with rectangular display screen.",
+    "Lift the laptop with silver keyboard slightly.",
+    "Raise the laptop with silver buttons on keyboard to expose the screen",
+    "Use the left arm to raise the black laptop.",
+    "Raise the top of the laptop with rectangular display screen",
+    "Lift the laptop with wide black lid's lid using the left arm.",
+    "Pull the black laptop with smooth body upward lightly.",
+    "Grip and lift the black laptop's lid.",
+    "Raise the black laptop with smooth body lid using the left arm.",
+    "Use the left arm to open the black laptop.",
+    "Raise the laptop with rectangular display screen using the left arm.",
+    "Use the left arm to open the black laptop with smooth body",
+    "Use the left arm to lift the black and silver portable laptop",
+    "Pull the lid of the laptop with rectangular display screen upward.",
+    "Open the black and silver portable laptop entirely.",
+    "Open the laptop with wide black lid completely.",
+    "Raise the lid of the laptop with rectangular display screen.",
+    "Raise and open the black laptop with smooth body.",
+    "Lift the laptop with wide black lid lid completely.",
+    "Slide the laptop featuring built-in keyboard open with the left arm.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Use the left arm to raise the black and silver portable laptop.",
+    "Lift the laptop with silver keyboard open with the left arm.",
+    "Pull open the laptop with silver buttons on keyboard",
+    "Fully lift the laptop with silver keyboard using the left arm.",
+    "Carefully open the laptop with silver keyboard using the left arm",
+    "Pull the rectangular laptop with smooth texture open with the left arm.",
+    "Use the left arm to open the laptop with rectangular display screen.",
+    "With the left arm, open the laptop with rectangular display screen's lid.",
+    "Lift the rectangular laptop with smooth texture's lid upwards.",
+    "Gently raise the rectangular laptop with folding hinge using the left arm.",
+    "Pull the laptop with shiny black surface's lid upward.",
+    "Fully open the the laptop with silver keyboard.",
+    "Lift and open the rectangular laptop with folding hinge.",
+    "Raise the clamshell laptop with flat screen's top section.",
+    "Pull up the lid of the black laptop with smooth body",
+    "Open the black laptop carefully with the left arm.",
+    "Gently lift the rectangular laptop with smooth texture using the left arm",
+    "Raise the laptop with shiny black surface using the left arm firmly.",
+    "Push the black laptop with smooth body's lid upward using the left arm.",
+    "Raise the rectangular laptop with smooth texture lid with the left arm.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Lift the laptop with rectangular display screen to open.",
+    "Raise the laptop with wide black lid using the left arm.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Hold the black laptop steady, lift lid.",
+    "Lift the black laptop to open it up",
+    "Open the rectangular laptop with smooth texture lifting with the left arm",
+    "Gently open the laptop with wide black lid.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Use the left arm to raise the laptop with wide black lid.",
+    "Lift the rectangular laptop with folding hinge slightly.",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Use the left arm to raise the laptop with silver keyboard."
+  ],
+  "unseen": [
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the medium laptop with black case using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the medium laptop with black case using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the medium laptop with black case's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode93.json b/open_laptop/demo_clean/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..987097e405664665f121c2916842cb8dd300f029
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the black laptop with reflective screen steady, lift lid.",
+    "Use the left arm to raise the device with flat keyboard and screen.",
+    "Lift and open the compact black and silver computer.",
+    "Slide the black and silver laptop open with the left arm.",
+    "Grip and lift the device with flat keyboard and screen's lid.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Raise the Toshiba laptop with folding design using the left arm firmly.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Raise the lid of the black and silver laptop.",
+    "Fully lift the compact black and silver computer using the left arm.",
+    "Use the left arm to lift the folding laptop with screen and keyboard",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Push the rectangular laptop with Toshiba logo's lid upward using the left arm.",
+    "Raise and open the black laptop with reflective screen.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Lift the portable folding laptop open with the left arm.",
+    "Lift the Toshiba laptop with folding design's lid using the left arm.",
+    "Carefully open the folding laptop with screen and keyboard using the left arm",
+    "Lift the silver keyboard laptop slightly.",
+    "Open the Toshiba laptop with folding design carefully with the left arm.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Use the left arm to open the medium-sized laptop.",
+    "Pull the silver keyboard laptop's lid upward.",
+    "Raise the compact black and silver computer using the left arm.",
+    "Lift the silver keyboard laptop's lid upwards.",
+    "Pull open the black laptop with reflective screen",
+    "Pull the screen of the medium-sized laptop.",
+    "Use the left arm to raise the matte laptop with smooth screen.",
+    "Raise the folding laptop with screen and keyboard lid using the left arm.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Raise the medium-sized laptop using the left arm.",
+    "Pull the silver keyboard laptop open with the left arm.",
+    "Use the left arm to open the portable folding laptop",
+    "Gently lift the matte laptop with smooth screen using the left arm",
+    "With the left arm, open the medium-sized laptop's lid.",
+    "Raise the rectangular laptop with Toshiba logo lid with the left arm.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Raise the top of the black laptop with reflective screen",
+    "Use the left arm to open the matte laptop with smooth screen.",
+    "Lift the matte laptop with smooth screen to open it up",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Open the laptop with silver keyboard lifting with the left arm",
+    "Gently open the laptop with silver keyboard upward.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Use the left arm to open the Toshiba laptop with folding design.",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Fully open the the silver keyboard laptop.",
+    "Pull the laptop with silver keyboard upward lightly.",
+    "Gently raise the compact black and silver computer using the left arm.",
+    "Hold the silver keyboard laptop steady, lift lid.",
+    "Use the left arm to raise the Toshiba laptop with folding design.",
+    "Lift and open the rectangular laptop with Toshiba logo.",
+    "Slide the black laptop with reflective screen open with the left arm.",
+    "Grip and lift the device with flat keyboard and screen's lid.",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Raise the Toshiba laptop with folding design using the left arm firmly.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Fully lift the black and silver laptop using the left arm.",
+    "Use the left arm to lift the laptop with silver keyboard",
+    "Gently open the matte laptop with smooth screen.",
+    "Push the device with flat keyboard and screen's lid upward using the left arm.",
+    "Raise and open the compact black and silver computer.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Lift the laptop with silver keyboard open with the left arm.",
+    "Lift the portable folding laptop's lid using the left arm.",
+    "Carefully open the silver keyboard laptop using the left arm",
+    "Lift the compact black and silver computer slightly.",
+    "Open the laptop with silver keyboard carefully with the left arm.",
+    "Open the portable folding laptop completely.",
+    "Use the left arm to open the black laptop with reflective screen.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Raise the compact black and silver computer using the left arm.",
+    "Lift the black laptop with reflective screen's lid upwards.",
+    "Pull open the silver keyboard laptop",
+    "Pull the screen of the rectangular laptop with Toshiba logo.",
+    "Use the left arm to raise the black laptop with reflective screen.",
+    "Raise the device with flat keyboard and screen lid using the left arm.",
+    "Open the laptop with silver keyboard entirely.",
+    "Raise the Toshiba laptop with folding design using the left arm.",
+    "Pull the rectangular laptop with Toshiba logo open with the left arm.",
+    "Use the left arm to open the device with flat keyboard and screen",
+    "Gently lift the compact black and silver computer using the left arm",
+    "With the left arm, open the laptop with silver keyboard's lid.",
+    "Raise the black and silver laptop lid with the left arm.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Raise the top of the compact black and silver computer",
+    "Use the left arm to open the compact black and silver computer.",
+    "Lift the black laptop with reflective screen to open it up",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Open the medium-sized laptop lifting with the left arm",
+    "Gently open the Toshiba laptop with folding design upward.",
+    "Use the left arm to raise the matte laptop with smooth screen.",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Use the left arm to open the black laptop with reflective screen.",
+    "Raise the portable folding laptop to expose the screen",
+    "Fully open the the medium-sized laptop.",
+    "Pull the rectangular laptop with Toshiba logo upward lightly.",
+    "Gently raise the device with flat keyboard and screen using the left arm."
+  ],
+  "unseen": [
+    "Open the computer with black screen using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the left arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with care",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with care",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode94.json b/open_laptop/demo_clean/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..51e8ecd0826e02cf1c565ba5c8a61b5aeae44860
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the laptop with wide black lid slightly.",
+    "Gently open the black laptop upward.",
+    "Raise the lid of the black and silver portable laptop.",
+    "Push the laptop featuring built-in keyboard's lid upward using the left arm.",
+    "Pull up the lid of the laptop with shiny black surface",
+    "Raise the laptop with wide black lid lid with the left arm.",
+    "Raise the laptop with silver keyboard using the left arm.",
+    "Pull the lid of the rectangular laptop with smooth texture upward.",
+    "Use the left arm to raise the laptop featuring built-in keyboard.",
+    "Open the rectangular laptop with smooth texture by lifting its lid.",
+    "With the left arm, open the black and silver portable laptop's lid.",
+    "Pull the clamshell laptop with flat screen's lid upward.",
+    "Raise the top of the laptop featuring built-in keyboard",
+    "Open the laptop with shiny black surface completely.",
+    "Lift the laptop with rectangular display screen to open.",
+    "Open the black laptop carefully with the left arm.",
+    "Fully open the the clamshell laptop with flat screen.",
+    "Pull the screen of the clamshell laptop with flat screen.",
+    "Raise the black laptop with smooth body using the left arm.",
+    "Slide the clamshell laptop with flat screen open with the left arm.",
+    "Gently lift the laptop featuring built-in keyboard using the left arm",
+    "Open the black laptop with smooth body entirely.",
+    "Lift the laptop with wide black lid open with the left arm.",
+    "Use the left arm to raise the laptop with silver buttons on keyboard.",
+    "Use the left arm to lift the rectangular laptop with folding hinge",
+    "Pull the laptop with silver keyboard open with the left arm.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Use the left arm to open the laptop with rectangular display screen.",
+    "Open the rectangular laptop with folding hinge lifting with the left arm",
+    "Lift the black and silver portable laptop's lid upwards.",
+    "Raise the laptop with wide black lid lid using the left arm.",
+    "Pull the laptop with silver buttons on keyboard upward lightly.",
+    "Raise the rectangular laptop with smooth texture to expose the screen",
+    "Lift the laptop with silver buttons on keyboard's lid using the left arm.",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Use the left arm to open the black and silver portable laptop.",
+    "Use the left arm to open the laptop with shiny black surface.",
+    "Use the left arm to open the laptop with silver keyboard",
+    "Hold the laptop with silver buttons on keyboard steady, lift lid.",
+    "Fully lift the laptop with silver keyboard using the left arm.",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Carefully open the clamshell laptop with flat screen using the left arm",
+    "Lift the clamshell laptop with flat screen lid completely.",
+    "Gently raise the laptop with silver buttons on keyboard using the left arm.",
+    "Use the left arm to raise the black laptop.",
+    "Raise the laptop featuring built-in keyboard using the left arm firmly.",
+    "Raise and open the laptop with rectangular display screen.",
+    "Raise the laptop with silver buttons on keyboard's top section.",
+    "Pull open the black laptop",
+    "Gently open the black laptop.",
+    "Lift the rectangular laptop with smooth texture slightly.",
+    "Gently open the rectangular laptop with folding hinge upward.",
+    "Raise the lid of the rectangular laptop with folding hinge.",
+    "Push the laptop with rectangular display screen's lid upward using the left arm.",
+    "Pull up the lid of the laptop featuring built-in keyboard",
+    "Raise the laptop with wide black lid lid with the left arm.",
+    "Raise the laptop with shiny black surface using the left arm.",
+    "Pull the lid of the clamshell laptop with flat screen upward.",
+    "Use the left arm to raise the laptop with shiny black surface.",
+    "Open the laptop with shiny black surface by lifting its lid.",
+    "With the left arm, open the rectangular laptop with folding hinge's lid.",
+    "Pull the black laptop with smooth body's lid upward.",
+    "Raise the top of the rectangular laptop with folding hinge",
+    "Open the laptop with silver buttons on keyboard completely.",
+    "Lift the laptop with silver keyboard to open.",
+    "Open the black laptop with smooth body carefully with the left arm.",
+    "Fully open the the laptop with wide black lid.",
+    "Pull the screen of the laptop with rectangular display screen.",
+    "Raise the rectangular laptop with folding hinge using the left arm.",
+    "Slide the black laptop open with the left arm.",
+    "Gently lift the rectangular laptop with smooth texture using the left arm",
+    "Open the laptop with silver keyboard entirely.",
+    "Lift the black laptop with smooth body open with the left arm.",
+    "Use the left arm to raise the laptop with rectangular display screen.",
+    "Use the left arm to lift the clamshell laptop with flat screen",
+    "Pull the black laptop open with the left arm.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Use the left arm to open the black laptop with smooth body.",
+    "Open the laptop with silver buttons on keyboard lifting with the left arm",
+    "Lift the laptop featuring built-in keyboard's lid upwards.",
+    "Raise the clamshell laptop with flat screen lid using the left arm.",
+    "Pull the laptop with shiny black surface upward lightly.",
+    "Raise the rectangular laptop with smooth texture to expose the screen",
+    "Lift the clamshell laptop with flat screen's lid using the left arm.",
+    "Grip and lift the black laptop with smooth body's lid.",
+    "Use the left arm to open the black and silver portable laptop.",
+    "Use the left arm to open the clamshell laptop with flat screen.",
+    "Use the left arm to open the laptop with silver buttons on keyboard",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Fully lift the laptop with shiny black surface using the left arm.",
+    "Lift the black laptop to open it up",
+    "Carefully open the rectangular laptop with folding hinge using the left arm",
+    "Lift the clamshell laptop with flat screen lid completely.",
+    "Gently raise the laptop with rectangular display screen using the left arm.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Raise the laptop with shiny black surface using the left arm firmly.",
+    "Raise and open the rectangular laptop with smooth texture.",
+    "Raise the black laptop's top section.",
+    "Pull open the black laptop",
+    "Gently open the laptop featuring built-in keyboard."
+  ],
+  "unseen": [
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the medium laptop with black case using the left arm.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Open the medium laptop with black case using the left arm.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Open the medium laptop with black case using the left arm.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case's lid fully.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case using the left arm",
+    "Open the medium laptop with black case using the left arm.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode95.json b/open_laptop/demo_clean/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6fef2fc33d179f9251d571879e47f895a27d58f
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the laptop with smooth surface",
+    "Pull the lid of the rectangular laptop with screen upward.",
+    "Raise the slim laptop's top section.",
+    "Open the laptop with metallic finish lifting with the left arm",
+    "Hold the rectangular laptop with screen steady, lift lid.",
+    "Pull the laptop with foldable screen design's lid upward.",
+    "Use the left arm to open the laptop with foldable screen design.",
+    "Pull the silver laptop with dark keys open with the left arm.",
+    "With the left arm, open the compact silver laptop's lid.",
+    "Use the left arm to raise the portable slim laptop.",
+    "Grip and lift the portable slim laptop's lid.",
+    "Raise the laptop with black keyboard using the left arm firmly.",
+    "Raise the metal laptop with black keys to expose the screen",
+    "Lift the lightweight silver laptop slightly.",
+    "Use the left arm to raise the medium-sized silver laptop.",
+    "Lift the compact silver laptop to open it up",
+    "Raise the medium-sized silver laptop lid using the left arm.",
+    "Use the left arm to open the compact silver laptop",
+    "Raise the lid of the lightweight silver laptop.",
+    "Push the compact silver laptop's lid upward using the left arm.",
+    "Open the laptop with black keyboard entirely.",
+    "Gently open the metal laptop with black keys.",
+    "Slide the portable slim laptop open with the left arm.",
+    "Pull the screen of the metal laptop with black keys.",
+    "Use the left arm to raise the laptop with black keyboard.",
+    "Raise the top of the rectangular laptop with screen",
+    "Lift the slim laptop open with the left arm.",
+    "Gently lift the rectangular laptop with screen using the left arm",
+    "Lift and open the silver laptop with dark keys.",
+    "Carefully open the laptop with foldable screen design using the left arm",
+    "Raise the laptop with metallic finish lid with the left arm.",
+    "Open the rectangular laptop with screen by lifting its lid.",
+    "Raise and open the medium-sized silver laptop.",
+    "Lift the metal laptop with black keys lid completely.",
+    "Lift the laptop with metallic finish's lid upwards.",
+    "Lift the laptop with black keyboard to open.",
+    "Pull the portable slim laptop upward lightly.",
+    "Pull up the lid of the laptop with foldable screen design",
+    "Open the metal laptop with black keys completely.",
+    "Raise the medium-sized silver laptop using the left arm.",
+    "Use the left arm to open the laptop with metallic finish.",
+    "Lift the laptop with foldable screen design's lid using the left arm.",
+    "Use the left arm to lift the silver laptop with dark keys",
+    "Fully open the the silver laptop with dark keys.",
+    "Fully lift the compact silver laptop using the left arm.",
+    "Gently raise the slim laptop using the left arm.",
+    "Gently open the slim laptop upward.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Open the medium-sized silver laptop carefully with the left arm.",
+    "Raise the rectangular laptop with screen using the left arm.",
+    "Pull open the metal laptop with black keys",
+    "Pull the lid of the silver laptop with dark keys upward.",
+    "Raise the medium-sized silver laptop's top section.",
+    "Open the compact silver laptop lifting with the left arm",
+    "Hold the laptop with smooth surface steady, lift lid.",
+    "Pull the slim laptop's lid upward.",
+    "Use the left arm to open the metal laptop with black keys.",
+    "Pull the laptop with metallic finish open with the left arm.",
+    "With the left arm, open the metal laptop with black keys's lid.",
+    "Use the left arm to raise the lightweight silver laptop.",
+    "Grip and lift the laptop with smooth surface's lid.",
+    "Raise the laptop with black keyboard using the left arm firmly.",
+    "Raise the silver laptop with dark keys to expose the screen",
+    "Lift the lightweight silver laptop slightly.",
+    "Use the left arm to raise the silver laptop with dark keys.",
+    "Lift the rectangular laptop with screen to open it up",
+    "Raise the laptop with foldable screen design lid using the left arm.",
+    "Use the left arm to open the medium-sized silver laptop",
+    "Raise the lid of the laptop with black keyboard.",
+    "Push the laptop with smooth surface's lid upward using the left arm.",
+    "Open the silver laptop with dark keys entirely.",
+    "Gently open the rectangular laptop with screen.",
+    "Slide the laptop with metallic finish open with the left arm.",
+    "Pull the screen of the compact silver laptop.",
+    "Use the left arm to raise the metal laptop with black keys.",
+    "Raise the top of the medium-sized silver laptop",
+    "Lift the rectangular laptop with screen open with the left arm.",
+    "Gently lift the laptop with black keyboard using the left arm",
+    "Lift and open the silver laptop with dark keys.",
+    "Carefully open the metal laptop with black keys using the left arm",
+    "Raise the laptop with smooth surface lid with the left arm.",
+    "Open the slim laptop by lifting its lid.",
+    "Raise and open the lightweight silver laptop.",
+    "Lift the slim laptop lid completely.",
+    "Lift the medium-sized silver laptop's lid upwards.",
+    "Lift the metal laptop with black keys to open.",
+    "Pull the lightweight silver laptop upward lightly.",
+    "Pull up the lid of the portable slim laptop",
+    "Open the rectangular laptop with screen completely.",
+    "Raise the silver laptop with dark keys using the left arm.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Lift the laptop with smooth surface's lid using the left arm.",
+    "Use the left arm to lift the slim laptop",
+    "Fully open the the rectangular laptop with screen.",
+    "Fully lift the silver laptop with dark keys using the left arm.",
+    "Gently raise the laptop with metallic finish using the left arm.",
+    "Gently open the laptop with metallic finish upward.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Open the laptop with smooth surface carefully with the left arm.",
+    "Raise the laptop with black keyboard using the left arm."
+  ],
+  "unseen": [
+    "Lift the silver laptop using the left arm",
+    "Open the folding laptop with black keyboard with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the silver laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Open the silver laptop with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the silver laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Open the folding laptop with black keyboard with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the folding laptop with black keyboard with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Open the silver laptop with care",
+    "Open the silver laptop with one motion.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the folding laptop with black keyboard with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Open the silver laptop with care",
+    "Open the silver laptop with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Open the folding laptop with black keyboard with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Open the silver laptop with care",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the silver laptop's lid.",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop carefully using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode96.json b/open_laptop/demo_clean/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..40a59be0bacd55f8b6a2e8336d189f13fb6bd83b
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the portable laptop open with the left arm.",
+    "Pull up the lid of the blue base black lid laptop",
+    "Pull open the medium-sized laptop for work",
+    "Raise and open the compact black laptop.",
+    "With the left arm, open the medium-sized laptop for work's lid.",
+    "Fully lift the compact black laptop using the left arm.",
+    "Use the left arm to raise the portable laptop.",
+    "Lift the portable laptop to open it up",
+    "Pull the laptop for browsing and computing upward lightly.",
+    "Use the left arm to open the portable laptop.",
+    "Lift the blue bottom foldable black laptop open with the left arm.",
+    "Use the left arm to open the blue bottom foldable black laptop.",
+    "Carefully open the blue base black lid laptop using the left arm",
+    "Open the blue base black lid laptop entirely.",
+    "Lift the compact black laptop's lid upwards.",
+    "Open the medium-sized laptop for work completely.",
+    "Open the compact black laptop by lifting its lid.",
+    "Gently lift the foldable laptop with screen using the left arm",
+    "Raise the black laptop with blue bottom panel to expose the screen",
+    "Use the left arm to raise the foldable laptop with screen.",
+    "Lift the blue-black laptop lid completely.",
+    "Gently open the compact black laptop upward.",
+    "Raise the foldable laptop with screen using the left arm.",
+    "Raise the medium-sized laptop for work lid with the left arm.",
+    "Lift the black laptop with blue bottom panel's lid using the left arm.",
+    "Lift the medium-sized laptop for work slightly.",
+    "Lift and open the portable laptop.",
+    "Use the left arm to raise the medium-sized laptop for work.",
+    "Raise the top of the black-and-blue laptop with keyboard",
+    "Use the left arm to lift the rectangular laptop with foldable hinge",
+    "Gently open the black-and-blue laptop with keyboard.",
+    "Open the black laptop with sharp rectangular edges lifting with the left arm",
+    "Fully open the the black laptop with sharp rectangular edges.",
+    "Use the left arm to open the portable laptop",
+    "Slide the blue bottom foldable black laptop open with the left arm.",
+    "Raise the black laptop with blue bottom panel lid using the left arm.",
+    "Pull the blue bottom foldable black laptop's lid upward.",
+    "Raise the lid of the blue bottom foldable black laptop.",
+    "Grip and lift the blue-black laptop's lid.",
+    "Hold the foldable laptop with screen steady, lift lid.",
+    "Raise the black laptop with sharp rectangular edges using the left arm.",
+    "Push the medium-sized laptop for work's lid upward using the left arm.",
+    "Pull the screen of the blue base black lid laptop.",
+    "Raise the foldable laptop with screen's top section.",
+    "Use the left arm to open the laptop for browsing and computing.",
+    "Open the portable laptop carefully with the left arm.",
+    "Raise the blue-black laptop using the left arm firmly.",
+    "Pull the lid of the black laptop with blue bottom panel upward.",
+    "Lift the laptop for browsing and computing to open.",
+    "Gently raise the compact black laptop using the left arm.",
+    "Pull the medium-sized laptop for work open with the left arm.",
+    "Pull up the lid of the laptop for browsing and computing",
+    "Pull open the black laptop with blue bottom panel",
+    "Raise and open the black-and-blue laptop with keyboard.",
+    "With the left arm, open the compact black laptop's lid.",
+    "Fully lift the black laptop with blue bottom panel using the left arm.",
+    "Use the left arm to raise the black laptop with sharp rectangular edges.",
+    "Lift the black laptop with blue bottom panel to open it up",
+    "Pull the foldable laptop with screen upward lightly.",
+    "Use the left arm to open the blue bottom foldable black laptop.",
+    "Lift the black laptop with sharp rectangular edges open with the left arm.",
+    "Use the left arm to open the laptop for browsing and computing.",
+    "Carefully open the medium-sized laptop for work using the left arm",
+    "Open the blue-black laptop entirely.",
+    "Lift the blue-black laptop's lid upwards.",
+    "Open the rectangular laptop with foldable hinge completely.",
+    "Open the medium-sized laptop for work by lifting its lid.",
+    "Gently lift the black laptop with sharp rectangular edges using the left arm",
+    "Raise the compact black laptop to expose the screen",
+    "Use the left arm to raise the compact black laptop.",
+    "Lift the blue-black laptop lid completely.",
+    "Gently open the blue-black laptop upward.",
+    "Raise the blue bottom foldable black laptop using the left arm.",
+    "Raise the blue base black lid laptop lid with the left arm.",
+    "Lift the blue base black lid laptop's lid using the left arm.",
+    "Lift the compact black laptop slightly.",
+    "Lift and open the portable laptop.",
+    "Use the left arm to raise the compact black laptop.",
+    "Raise the top of the foldable laptop with screen",
+    "Use the left arm to lift the black-and-blue laptop with keyboard",
+    "Gently open the black laptop with sharp rectangular edges.",
+    "Open the blue-black laptop lifting with the left arm",
+    "Fully open the the black-and-blue laptop with keyboard.",
+    "Use the left arm to open the blue-black laptop",
+    "Slide the black laptop with blue bottom panel open with the left arm.",
+    "Raise the rectangular laptop with foldable hinge lid using the left arm.",
+    "Pull the rectangular laptop with foldable hinge's lid upward.",
+    "Raise the lid of the blue bottom foldable black laptop.",
+    "Grip and lift the blue-black laptop's lid.",
+    "Hold the portable laptop steady, lift lid.",
+    "Raise the medium-sized laptop for work using the left arm.",
+    "Push the foldable laptop with screen's lid upward using the left arm.",
+    "Pull the screen of the black-and-blue laptop with keyboard.",
+    "Raise the rectangular laptop with foldable hinge's top section.",
+    "Use the left arm to open the portable laptop.",
+    "Open the rectangular laptop with foldable hinge carefully with the left arm.",
+    "Raise the foldable laptop with screen using the left arm firmly.",
+    "Pull the lid of the black laptop with blue bottom panel upward.",
+    "Lift the black-and-blue laptop with keyboard to open.",
+    "Gently raise the black laptop with sharp rectangular edges using the left arm."
+  ],
+  "unseen": [
+    "Open the black laptop using the left arm.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Open the laptop with display and keyboard with care",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Grab the black laptop and open it.",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the black laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Open the black laptop with care",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the black laptop's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the laptop with display and keyboard with care",
+    "Pull up the black laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Open the laptop with display and keyboard with care",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the laptop with display and keyboard with care",
+    "Pull up the black laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the black laptop with care",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Open the laptop with display and keyboard with care",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the black laptop with care",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the black laptop using the left arm.",
+    "Grab the black laptop and open it.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Open the smooth black plastic laptop with care",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the smooth black plastic laptop's lid fully."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode97.json b/open_laptop/demo_clean/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd1b7db94b90be5c85d1846ef5b4a9d5560a30c7
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the laptop with smooth surface's lid upward.",
+    "Lift the silver laptop with dark keys to open.",
+    "Raise the silver laptop with dark keys lid using the left arm.",
+    "Fully lift the portable slim laptop using the left arm.",
+    "Hold the silver laptop with dark keys steady, lift lid.",
+    "Fully open the the silver laptop with dark keys.",
+    "Use the left arm to open the silver laptop with dark keys.",
+    "Raise the lightweight silver laptop to expose the screen",
+    "Raise the rectangular laptop with screen's top section.",
+    "Pull the compact silver laptop open with the left arm.",
+    "Use the left arm to lift the portable slim laptop",
+    "Pull up the lid of the laptop with metallic finish",
+    "Lift the portable slim laptop slightly.",
+    "Raise the laptop with black keyboard lid with the left arm.",
+    "Push the laptop with foldable screen design's lid upward using the left arm.",
+    "Raise the lid of the laptop with foldable screen design.",
+    "Lift the medium-sized silver laptop lid completely.",
+    "Lift and open the slim laptop.",
+    "Use the left arm to open the laptop with smooth surface",
+    "Slide the laptop with foldable screen design open with the left arm.",
+    "Use the left arm to open the portable slim laptop.",
+    "Pull the screen of the laptop with foldable screen design.",
+    "Lift the rectangular laptop with screen's lid upwards.",
+    "Pull the lid of the portable slim laptop upward.",
+    "Gently open the laptop with smooth surface.",
+    "Grip and lift the silver laptop with dark keys's lid.",
+    "Raise the silver laptop with dark keys using the left arm firmly.",
+    "Use the left arm to raise the medium-sized silver laptop.",
+    "Raise the top of the medium-sized silver laptop",
+    "Raise the rectangular laptop with screen using the left arm.",
+    "Open the portable slim laptop carefully with the left arm.",
+    "Gently lift the medium-sized silver laptop using the left arm",
+    "Gently open the silver laptop with dark keys upward.",
+    "Gently raise the laptop with black keyboard using the left arm.",
+    "Use the left arm to raise the silver laptop with dark keys.",
+    "Raise the metal laptop with black keys using the left arm.",
+    "Pull open the silver laptop with dark keys",
+    "Use the left arm to raise the silver laptop with dark keys.",
+    "With the left arm, open the compact silver laptop's lid.",
+    "Open the lightweight silver laptop completely.",
+    "Open the slim laptop entirely.",
+    "Open the laptop with metallic finish lifting with the left arm",
+    "Lift the laptop with metallic finish open with the left arm.",
+    "Carefully open the laptop with foldable screen design using the left arm",
+    "Lift the portable slim laptop to open it up",
+    "Open the portable slim laptop by lifting its lid.",
+    "Pull the rectangular laptop with screen upward lightly.",
+    "Lift the laptop with foldable screen design's lid using the left arm.",
+    "Use the left arm to open the portable slim laptop.",
+    "Raise and open the laptop with smooth surface.",
+    "Pull the lightweight silver laptop's lid upward.",
+    "Lift the portable slim laptop to open.",
+    "Raise the rectangular laptop with screen lid using the left arm.",
+    "Fully lift the slim laptop using the left arm.",
+    "Hold the lightweight silver laptop steady, lift lid.",
+    "Fully open the the silver laptop with dark keys.",
+    "Use the left arm to open the slim laptop.",
+    "Raise the medium-sized silver laptop to expose the screen",
+    "Raise the laptop with smooth surface's top section.",
+    "Pull the silver laptop with dark keys open with the left arm.",
+    "Use the left arm to lift the laptop with smooth surface",
+    "Pull up the lid of the rectangular laptop with screen",
+    "Lift the metal laptop with black keys slightly.",
+    "Raise the rectangular laptop with screen lid with the left arm.",
+    "Push the laptop with metallic finish's lid upward using the left arm.",
+    "Raise the lid of the silver laptop with dark keys.",
+    "Lift the rectangular laptop with screen lid completely.",
+    "Lift and open the laptop with foldable screen design.",
+    "Use the left arm to open the laptop with foldable screen design",
+    "Slide the laptop with foldable screen design open with the left arm.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Pull the screen of the portable slim laptop.",
+    "Lift the rectangular laptop with screen's lid upwards.",
+    "Pull the lid of the compact silver laptop upward.",
+    "Gently open the laptop with black keyboard.",
+    "Grip and lift the laptop with smooth surface's lid.",
+    "Raise the slim laptop using the left arm firmly.",
+    "Use the left arm to raise the laptop with foldable screen design.",
+    "Raise the top of the laptop with smooth surface",
+    "Raise the compact silver laptop using the left arm.",
+    "Open the laptop with black keyboard carefully with the left arm.",
+    "Gently lift the slim laptop using the left arm",
+    "Gently open the lightweight silver laptop upward.",
+    "Gently raise the lightweight silver laptop using the left arm.",
+    "Use the left arm to raise the laptop with smooth surface.",
+    "Raise the laptop with metallic finish using the left arm.",
+    "Pull open the compact silver laptop",
+    "Use the left arm to raise the laptop with black keyboard.",
+    "With the left arm, open the laptop with foldable screen design's lid.",
+    "Open the silver laptop with dark keys completely.",
+    "Open the rectangular laptop with screen entirely.",
+    "Open the rectangular laptop with screen lifting with the left arm",
+    "Lift the metal laptop with black keys open with the left arm.",
+    "Carefully open the laptop with foldable screen design using the left arm",
+    "Lift the portable slim laptop to open it up",
+    "Open the laptop with smooth surface by lifting its lid.",
+    "Pull the laptop with metallic finish upward lightly.",
+    "Lift the rectangular laptop with screen's lid using the left arm.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Raise and open the compact silver laptop."
+  ],
+  "unseen": [
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the silver laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop using the left arm",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode98.json b/open_laptop/demo_clean/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..c07dbb9e9fd6a4d368ccaa12d3cdd3451a741ae5
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the compact black laptop",
+    "Hold the laptop with screen and keyboard steady, lift lid.",
+    "Fully lift the laptop with screen and keyboard using the left arm.",
+    "With the left arm, open the lightweight laptop's lid.",
+    "Use the left arm to raise the laptop with red logo underside.",
+    "Raise the medium-sized laptop with black body to expose the screen",
+    "Raise the laptop with screen and keyboard lid using the left arm.",
+    "Pull the lightweight laptop open with the left arm.",
+    "Lift the hinged laptop with screen and base to open.",
+    "Gently open the foldable laptop with patterned keyboard.",
+    "Use the left arm to open the black metallic laptop",
+    "Open the foldable laptop with patterned keyboard lifting with the left arm",
+    "Grip and lift the lightweight laptop's lid.",
+    "Lift the lightweight laptop lid completely.",
+    "Slide the hinged laptop with screen and base open with the left arm.",
+    "Raise the hinged laptop with screen and base lid with the left arm.",
+    "Use the left arm to lift the laptop with screen and keyboard",
+    "Gently open the laptop with red logo underside upward.",
+    "Use the left arm to raise the black metallic laptop.",
+    "Pull the lid of the sleek laptop design upward.",
+    "Gently raise the compact black laptop using the left arm.",
+    "Raise the laptop with red logo underside using the left arm.",
+    "Push the black laptop's lid upward using the left arm.",
+    "Raise and open the lightweight laptop.",
+    "Raise the black metallic laptop using the left arm firmly.",
+    "Raise the lightweight laptop's top section.",
+    "Lift the lightweight laptop's lid using the left arm.",
+    "Lift and open the black laptop with red accents.",
+    "Raise the lid of the foldable laptop with patterned keyboard.",
+    "Use the left arm to open the laptop with red logo underside.",
+    "Lift the compact black laptop to open it up",
+    "Pull the laptop with screen and keyboard's lid upward.",
+    "Lift the hinged laptop with screen and base open with the left arm.",
+    "Pull the screen of the foldable laptop with patterned keyboard.",
+    "Raise the foldable laptop with patterned keyboard using the left arm.",
+    "Pull the black metallic laptop upward lightly.",
+    "Gently lift the hinged laptop with screen and base using the left arm",
+    "Open the compact black laptop carefully with the left arm.",
+    "Raise the top of the lightweight laptop",
+    "Open the black laptop with red accents entirely.",
+    "Use the left arm to open the laptop with screen and keyboard.",
+    "Carefully open the compact black laptop using the left arm",
+    "Use the left arm to raise the laptop with red logo underside.",
+    "Lift the medium-sized laptop with black body's lid upwards.",
+    "Open the compact black laptop completely.",
+    "Lift the black metallic laptop slightly.",
+    "Open the lightweight laptop by lifting its lid.",
+    "Pull up the lid of the black laptop",
+    "Fully open the the black laptop with red accents.",
+    "Use the left arm to open the black laptop.",
+    "Pull open the black laptop",
+    "Hold the lightweight laptop steady, lift lid.",
+    "Fully lift the compact black laptop using the left arm.",
+    "With the left arm, open the hinged laptop with screen and base's lid.",
+    "Use the left arm to raise the foldable laptop with patterned keyboard.",
+    "Raise the medium-sized laptop with black body to expose the screen",
+    "Raise the sleek laptop design lid using the left arm.",
+    "Pull the black laptop with red accents open with the left arm.",
+    "Lift the laptop with red logo underside to open.",
+    "Gently open the compact black laptop.",
+    "Use the left arm to open the black metallic laptop",
+    "Open the lightweight laptop lifting with the left arm",
+    "Grip and lift the lightweight laptop's lid.",
+    "Lift the hinged laptop with screen and base lid completely.",
+    "Slide the laptop featuring textured exterior open with the left arm.",
+    "Raise the black laptop lid with the left arm.",
+    "Use the left arm to lift the lightweight laptop",
+    "Gently open the compact black laptop upward.",
+    "Use the left arm to raise the black laptop.",
+    "Pull the lid of the black laptop upward.",
+    "Gently raise the black laptop using the left arm.",
+    "Raise the hinged laptop with screen and base using the left arm.",
+    "Push the black laptop's lid upward using the left arm.",
+    "Raise and open the medium-sized laptop with black body.",
+    "Raise the laptop featuring textured exterior using the left arm firmly.",
+    "Raise the laptop with screen and keyboard's top section.",
+    "Lift the hinged laptop with screen and base's lid using the left arm.",
+    "Lift and open the compact black laptop.",
+    "Raise the lid of the hinged laptop with screen and base.",
+    "Use the left arm to open the foldable laptop with patterned keyboard.",
+    "Lift the sleek laptop design to open it up",
+    "Pull the hinged laptop with screen and base's lid upward.",
+    "Lift the hinged laptop with screen and base open with the left arm.",
+    "Pull the screen of the compact black laptop.",
+    "Raise the black laptop using the left arm.",
+    "Pull the laptop with screen and keyboard upward lightly.",
+    "Gently lift the lightweight laptop using the left arm",
+    "Open the hinged laptop with screen and base carefully with the left arm.",
+    "Raise the top of the laptop with red logo underside",
+    "Open the medium-sized laptop with black body entirely.",
+    "Use the left arm to open the black laptop with red accents.",
+    "Carefully open the hinged laptop with screen and base using the left arm",
+    "Use the left arm to raise the compact black laptop.",
+    "Lift the compact black laptop's lid upwards.",
+    "Open the laptop with red logo underside completely.",
+    "Lift the laptop with screen and keyboard slightly.",
+    "Open the compact black laptop by lifting its lid.",
+    "Pull up the lid of the sleek laptop design",
+    "Fully open the the hinged laptop with screen and base.",
+    "Use the left arm to open the lightweight laptop."
+  ],
+  "unseen": [
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the portable laptop with care",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop's lid gently.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Open the portable laptop using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the portable laptop using the left arm",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the portable laptop using the left arm.",
+    "Open the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the portable laptop using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop with one motion.",
+    "Pull up the portable laptop's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop using the left arm.",
+    "Open the portable laptop with care",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the portable laptop's lid fully.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the portable laptop with one motion.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the portable laptop using the left arm.",
+    "Open the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the portable laptop using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Grab the portable laptop and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the portable laptop using the left arm",
+    "Lift the portable laptop's lid fully.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Pull up the portable laptop's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the portable laptop using the left arm",
+    "Lift the portable laptop's lid fully.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the portable laptop using the left arm.",
+    "Open the portable laptop using the left arm.",
+    "Open the portable laptop with care",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Lift the portable laptop's lid fully.",
+    "Lift the portable laptop's lid gently.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Pull up the portable laptop's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Grab the portable laptop and open it.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop with one motion.",
+    "Pull up the portable laptop's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/instructions/episode99.json b/open_laptop/demo_clean/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f4188548254fca85c8d5479522e9d4bb819b040
--- /dev/null
+++ b/open_laptop/demo_clean/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the laptop with folding lid to expose the screen",
+    "Fully open the the laptop with black hinge area.",
+    "Use the right arm to open the thin portable laptop",
+    "Use the right arm to open the plastic orange laptop with metal parts.",
+    "Fully lift the rectangular laptop with orange body using the right arm.",
+    "Gently open the thin portable laptop upward.",
+    "Open the laptop with blue screen by lifting its lid.",
+    "Use the right arm to raise the foldable laptop.",
+    "Pull the hinged screen laptop upward lightly.",
+    "Pull the hinged screen laptop open with the right arm.",
+    "Open the laptop with blue screen lifting with the right arm",
+    "Raise the plastic orange laptop with metal parts using the right arm firmly.",
+    "Use the right arm to lift the hinged screen laptop",
+    "Open the orange laptop completely.",
+    "Gently lift the medium rectangular orange laptop using the right arm",
+    "With the right arm, open the orange laptop's lid.",
+    "Lift the laptop with folding lid's lid upwards.",
+    "Raise the hinged screen laptop's top section.",
+    "Hold the blue screen foldable laptop steady, lift lid.",
+    "Use the right arm to open the medium rectangular orange laptop.",
+    "Raise the laptop with folding lid using the right arm.",
+    "Pull the screen of the plastic orange laptop with metal parts.",
+    "Raise the thin portable laptop using the right arm.",
+    "Pull the rectangular laptop with orange body's lid upward.",
+    "Raise the lid of the plastic orange laptop with metal parts.",
+    "Lift and open the laptop with blue screen.",
+    "Use the right arm to raise the rectangular laptop with orange body.",
+    "Use the right arm to open the blue screen foldable laptop.",
+    "Open the rectangular laptop with orange body carefully with the right arm.",
+    "Lift the rectangular laptop with orange body to open it up",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Raise the orange laptop lid with the right arm.",
+    "Carefully open the orange laptop using the right arm",
+    "Pull up the lid of the plastic orange laptop with metal parts",
+    "Lift the rectangular laptop with orange body open with the right arm.",
+    "Pull the lid of the hinged screen laptop upward.",
+    "Slide the foldable laptop open with the right arm.",
+    "Open the laptop with black hinge area entirely.",
+    "Raise the medium rectangular orange laptop lid using the right arm.",
+    "Grip and lift the rectangular laptop with orange body's lid.",
+    "Lift the blue screen portable laptop slightly.",
+    "Push the plastic orange laptop with metal parts's lid upward using the right arm.",
+    "Lift the rectangular laptop with orange body to open.",
+    "Raise and open the blue screen portable laptop.",
+    "Pull open the blue screen portable laptop",
+    "Raise the top of the hinged screen laptop",
+    "Lift the thin portable laptop lid completely.",
+    "Gently open the thin portable laptop.",
+    "Lift the foldable laptop's lid using the right arm.",
+    "Gently raise the blue screen portable laptop using the right arm.",
+    "Raise the thin portable laptop to expose the screen",
+    "Fully open the the plastic orange laptop with metal parts.",
+    "Use the right arm to open the medium rectangular orange laptop",
+    "Use the right arm to open the blue screen portable laptop.",
+    "Fully lift the foldable laptop using the right arm.",
+    "Gently open the orange laptop upward.",
+    "Open the laptop with black hinge area by lifting its lid.",
+    "Use the right arm to raise the orange laptop.",
+    "Pull the laptop with blue screen upward lightly.",
+    "Pull the laptop with black hinge area open with the right arm.",
+    "Open the medium rectangular orange laptop lifting with the right arm",
+    "Raise the medium rectangular orange laptop using the right arm firmly.",
+    "Use the right arm to lift the orange laptop",
+    "Open the thin portable laptop completely.",
+    "Gently lift the rectangular laptop with orange body using the right arm",
+    "With the right arm, open the laptop with blue screen's lid.",
+    "Lift the laptop with black hinge area's lid upwards.",
+    "Raise the thin portable laptop's top section.",
+    "Hold the laptop with folding lid steady, lift lid.",
+    "Use the right arm to open the blue screen foldable laptop.",
+    "Raise the hinged screen laptop using the right arm.",
+    "Pull the screen of the laptop with blue screen.",
+    "Raise the blue screen portable laptop using the right arm.",
+    "Pull the orange laptop's lid upward.",
+    "Raise the lid of the blue screen foldable laptop.",
+    "Lift and open the blue screen portable laptop.",
+    "Use the right arm to raise the medium rectangular orange laptop.",
+    "Use the right arm to open the medium rectangular orange laptop.",
+    "Open the thin portable laptop carefully with the right arm.",
+    "Lift the thin portable laptop to open it up",
+    "Use the right arm to raise the blue screen foldable laptop.",
+    "Raise the blue screen portable laptop lid with the right arm.",
+    "Carefully open the plastic orange laptop with metal parts using the right arm",
+    "Pull up the lid of the laptop with folding lid",
+    "Lift the orange laptop open with the right arm.",
+    "Pull the lid of the laptop with blue screen upward.",
+    "Slide the laptop with folding lid open with the right arm.",
+    "Open the laptop with blue screen entirely.",
+    "Raise the laptop with folding lid lid using the right arm.",
+    "Grip and lift the laptop with folding lid's lid.",
+    "Lift the laptop with blue screen slightly.",
+    "Push the foldable laptop's lid upward using the right arm.",
+    "Lift the blue screen foldable laptop to open.",
+    "Raise and open the blue screen foldable laptop.",
+    "Pull open the blue screen foldable laptop",
+    "Raise the top of the blue screen portable laptop",
+    "Lift the thin portable laptop lid completely.",
+    "Gently open the laptop with black hinge area.",
+    "Lift the medium rectangular orange laptop's lid using the right arm.",
+    "Gently raise the foldable laptop using the right arm."
+  ],
+  "unseen": [
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the flat orange laptop with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Lift the flat orange laptop using the right arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the flat orange laptop with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the flat orange laptop with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Lift the flat orange laptop using the right arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Lift the flat orange laptop using the right arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the flat orange laptop with one motion.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Lift the flat orange laptop using the right arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the flat orange laptop using the right arm",
+    "Open the flat orange laptop with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Open the flat orange laptop using the right arm.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Lift the compact laptop with orange exterior using the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean/scene_info.json b/open_laptop/demo_clean/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e778965d1418768f8e87821307e75f33262bac
--- /dev/null
+++ b/open_laptop/demo_clean/scene_info.json
@@ -0,0 +1,1102 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "right"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "right"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base6",
+            "{a}": "right"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base8",
+            "{a}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base7",
+            "{a}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base8",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base9",
+            "{a}": "right"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base3",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base1",
+            "{a}": "right"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base7",
+            "{a}": "left"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base9",
+            "{a}": "left"
+        }
+    },
+    "episode_20": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "left"
+        }
+    },
+    "episode_21": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "left"
+        }
+    },
+    "episode_22": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base5",
+            "{a}": "right"
+        }
+    },
+    "episode_23": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_24": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_25": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_26": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_27": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base8",
+            "{a}": "left"
+        }
+    },
+    "episode_28": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "left"
+        }
+    },
+    "episode_29": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base6",
+            "{a}": "left"
+        }
+    },
+    "episode_30": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base7",
+            "{a}": "left"
+        }
+    },
+    "episode_31": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base8",
+            "{a}": "right"
+        }
+    },
+    "episode_32": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_33": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base8",
+            "{a}": "left"
+        }
+    },
+    "episode_34": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base9",
+            "{a}": "right"
+        }
+    },
+    "episode_35": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base9",
+            "{a}": "left"
+        }
+    },
+    "episode_36": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "left"
+        }
+    },
+    "episode_37": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_38": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base3",
+            "{a}": "left"
+        }
+    },
+    "episode_39": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base5",
+            "{a}": "right"
+        }
+    },
+    "episode_40": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base6",
+            "{a}": "right"
+        }
+    },
+    "episode_41": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_42": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "left"
+        }
+    },
+    "episode_43": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_44": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
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