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diff --git a/lift_pot/demo_clean/instructions/episode0.json b/lift_pot/demo_clean/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe98bf33464e5de4da28cb0f8cf94efd5ba80a80
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Hold the metal kitchenpot with both arms",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Grab the metal kitchenpot using both arms",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Use arms to lift the gray kitchenpot upward",
+    "Use both arms to raise the metal kitchenpot.",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Take hold of the metal kitchenpot and lift up",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Lift the smooth gray kitchenpot up together",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Secure the gray kitchenpot and lift upward.",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Carry the metal kitchenpot securely using arms",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Lift the metal kitchenpot upwards with care",
+    "Lift the metal kitchenpot carefully using arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Use both arms to raise the gray kitchenpot",
+    "Hold the metal kitchenpot firmly with arms",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Lift the gray kitchenpot up using your arms",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Both arms lift the gray kitchenpot upright",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Raise the gray kitchenpot with strong support",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Use both arms to raise the metal kitchenpot.",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Lift the metal kitchenpot up together",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Bring the medium kitchenpot made of metal up together",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Hold the gray kitchenpot and lift upward",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Raise the metal kitchenpot evenly with arms",
+    "Carry the gray kitchenpot securely using arms",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Hold the medium-sized kitchenpot firmly with arms"
+  ],
+  "unseen": [
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode1.json b/lift_pot/demo_clean/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..757607f8cd6dfebbbd35c4e11a4bd73b15455cf1
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Bring the medium-sized kitchenpot up together",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Bring the metal kitchenpot upwards together",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Both arms lift the gray kitchenpot upright",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Use arms to lift the gray kitchenpot upward",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the round kitchenpot with handles up together",
+    "Lift the metal kitchenpot up using your arms",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Bring the metal kitchenpot up together",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Raise the metal kitchenpot evenly with arms",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Lift the gray kitchenpot carefully using arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Lift the gray kitchenpot steadily with support",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the gray kitchenpot up together",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Hold the metal kitchenpot firmly with arms",
+    "Lift the metal kitchenpot upwards with care",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Grab the round kitchenpot with handles using both arms",
+    "Raise the metal kitchenpot securely with arms",
+    "Raise the metal kitchenpot using both arms",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking."
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode10.json b/lift_pot/demo_clean/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca298355cba78d7c157ff525679e6d3d38dc15da
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Grab the gray kitchenpot and lift it up",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Both arms lift the metal kitchenpot upright",
+    "Hold the metal kitchenpot with both arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Grab the round kitchenpot with handles and lift together",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Raise and hold the round kitchenpot with handles together",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Pick up the metal kitchenpot with both arms",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Lift the medium kitchenpot made of metal up together",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Bring the medium kitchenpot made of metal up together",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Lift the gray kitchenpot up using your arms",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Grip the gray kitchenpot firmly and lift",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Raise the gray kitchenpot upward with both hands",
+    "Raise and hold the gray kitchenpot together",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Bring the round kitchenpot with handles upwards together",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Hold the gray kitchenpot and lift upward",
+    "Secure the gray kitchenpot and lift it up",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Raise the gray kitchenpot with strong support",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Grab the medium kitchenpot made of metal using both arms"
+  ],
+  "unseen": [
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode11.json b/lift_pot/demo_clean/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..371eb535e6fb550a5b86f07830647c3f38ded4b6
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Use arms to lift the gray kitchenpot upward",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Bring the smooth gray kitchenpot up together",
+    "Grab the gray kitchenpot and lift it up",
+    "Raise the round kitchenpot with handles together with arms",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Securely lift the metal kitchenpot together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Lift the gray kitchenpot upward and hold it",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Hold the round kitchenpot with handles and lift upward",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Raise the round kitchenpot with handles with strong support",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Raise the metal kitchenpot together using arms",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Lift the metal kitchenpot up together",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise the metal kitchenpot securely with arms",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Hold the round kitchenpot with handles with both arms",
+    "Lift the metal kitchenpot upward with both arms",
+    "Pick up the metal kitchenpot with both arms",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Bring the round kitchenpot with handles up together",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Securely lift the smooth gray kitchenpot together",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Take hold of the metal kitchenpot and lift up",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Grab the metal kitchenpot using both arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Lift the gray kitchenpot up using your arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Lift the gray kitchenpot steadily with support",
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Lift the cylindrical kitchenpot up together",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Secure the gray kitchenpot and lift upward.",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Grab the metal kitchenpot and lift together",
+    "Hold the gray kitchenpot with both arms",
+    "Lift the metal kitchenpot upward with both arms",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Hold the metal kitchenpot firmly with arms",
+    "Carry the metal kitchenpot securely using arms",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Hold and raise the cooking kitchenpot with side grips together"
+  ],
+  "unseen": [
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode12.json b/lift_pot/demo_clean/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7c4b9403d1953584e618720a35533cdd882847b
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Take hold of the metal kitchenpot and lift up",
+    "Secure the gray kitchenpot and lift upward.",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Use both arms to raise the metal kitchenpot.",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Grab the gray kitchenpot using both arms",
+    "Hold the metal kitchenpot firmly with arms",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Bring the metal kitchenpot up together",
+    "Securely lift the metal kitchenpot together",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Lift the smooth gray kitchenpot up together",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Raise and hold the gray kitchenpot together",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Lift the gray kitchenpot steadily with support",
+    "Secure the gray kitchenpot and lift it up",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Hold the metal kitchenpot with both arms",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Raise the metal kitchenpot with strong support",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Grip the gray kitchenpot firmly and lift",
+    "Carry the metal kitchenpot securely using arms",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Hold the metal kitchenpot and lift upward",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Lift the metal kitchenpot carefully using arms",
+    "Raise the gray kitchenpot together with arms",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Bring the medium kitchenpot made of metal up together",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Support the gray kitchenpot and raise it upward",
+    "Lift the metal kitchenpot up together",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Hold the round kitchenpot with handles with both arms",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Use arms to lift the metal kitchenpot upward",
+    "Raise the metal kitchenpot with strong support",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Lift the metal kitchenpot using both arms now.",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Grip the cylindrical kitchenpot firmly and lift"
+  ],
+  "unseen": [
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode13.json b/lift_pot/demo_clean/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..45a28ab970a6b5e8f9b3d504e610670da7fbf65c
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Grab the metal kitchenpot and lift together",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Secure the metal kitchenpot and lift it up",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Raise the metal kitchenpot securely with arms",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Raise the gray kitchenpot with strong support",
+    "Support the metal kitchenpot and raise it upward",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Lift the metal kitchenpot up together",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Lift the metal kitchenpot upwards with care",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Bring the gray kitchenpot up together",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Lift the gray kitchenpot upward and hold it",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Hold the gray kitchenpot firmly with arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Bring the round kitchenpot with handles upwards together",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Support the gray kitchenpot and raise it upward",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Lift the medium-sized kitchenpot up together",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Lift the gray kitchenpot steadily using arms",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Raise and hold the round kitchenpot with handles together",
+    "Both arms lift the metal kitchenpot upright",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Securely lift the gray kitchenpot together",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Bring the round kitchenpot with handles up together",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Grab the gray kitchenpot using both arms",
+    "Raise the metal kitchenpot together using arms"
+  ],
+  "unseen": [
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode14.json b/lift_pot/demo_clean/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..50aee240703573e1e35996eeb0fcf39f3ae48644
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Bring the round kitchenpot with handles up together",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Lift the metal kitchenpot using both arms now.",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Lift the gray kitchenpot up using your arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Lift the medium kitchenpot made of metal up together",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Take hold of the metal kitchenpot and lift up",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Carry the metal kitchenpot securely using arms",
+    "Securely lift the metal kitchenpot together",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Lift the gray kitchenpot steadily using arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Raise the gray kitchenpot together using arms",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Bring the medium kitchenpot made of metal up together",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Hold the metal kitchenpot firmly with arms",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Lift the cylindrical kitchenpot up together",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Carry the gray kitchenpot securely using arms",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Raise the gray kitchenpot with strong support",
+    "Lift the gray kitchenpot upward with both arms",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Both arms lift the gray cylindrical metal kitchenpot upright"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode15.json b/lift_pot/demo_clean/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea0d4c12de439cbfd614c316decfd7ee2cfa0c3c
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Lift the metal kitchenpot carefully using arms",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Pick up the gray kitchenpot with both arms",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Grab the gray kitchenpot and lift it up",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Lift the smooth gray kitchenpot up together",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Use both arms to raise the gray kitchenpot.",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Raise and hold the gray kitchenpot together",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Securely lift the cylindrical kitchenpot together",
+    "Hold the smooth gray kitchenpot with both arms",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Grab the gray kitchenpot and lift together",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Bring the medium kitchenpot made of metal up together",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Raise the round kitchenpot with handles together using arms",
+    "Raise the round kitchenpot with handles using both arms",
+    "Lift the metal kitchenpot upward with both arms",
+    "Lift the metal kitchenpot carefully using arms",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Lift the gray kitchenpot upwards with care",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Lift the medium-sized kitchenpot up together",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Raise and hold the gray kitchenpot together",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Raise the metal kitchenpot steadily using arms",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Hold and raise the gray kitchenpot together",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Raise the round kitchenpot with handles together with arms",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Grip the metal kitchenpot firmly and lift",
+    "Bring the cylindrical kitchenpot up together",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Raise the gray kitchenpot with strong support",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Raise the gray kitchenpot together using arms",
+    "Raise the medium-sized kitchenpot using both arms"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode16.json b/lift_pot/demo_clean/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d81fb28ddc25e63ffad005644ee47efb30ec55
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Securely lift the smooth gray kitchenpot together",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Raise the metal kitchenpot upward with both hands",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Hold the gray kitchenpot with both arms",
+    "Raise the gray kitchenpot together using arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Lift the medium-sized kitchenpot up together",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Bring the round kitchenpot with handles up together",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Pick up the gray kitchenpot with both arms",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Bring the metal kitchenpot upwards together",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Raise and hold the gray kitchenpot together",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Lift the metal kitchenpot steadily with support",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Take hold of the metal kitchenpot and lift up",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Engage arms to grip and lift the smooth gray kitchenpot.",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Lift the metal kitchenpot carefully using arms",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Hold the gray kitchenpot firmly with arms",
+    "Lift the smooth gray kitchenpot up together",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Grab the gray kitchenpot and lift together",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Raise the gray cylindrical metal kitchenpot securely with arms"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode17.json b/lift_pot/demo_clean/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec6ac4a958256ecda6ba4e9041dba8fdc81c7f6d
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Lift the metal kitchenpot carefully using arms",
+    "Use both arms to raise the metal kitchenpot",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Pick up the gray kitchenpot with both arms",
+    "Raise the gray kitchenpot with strong support",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Grab the metal kitchenpot and lift together",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Raise the metal kitchenpot evenly with arms",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Raise the gray kitchenpot together with arms",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Securely lift the medium-sized kitchenpot together",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Bring the dark gray stove kitchenpot up together",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Raise and hold the metal kitchenpot together",
+    "Lift the kitchenpot with smooth exterior up together",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Lift the gray kitchenpot steadily with support",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Grab the round kitchenpot with handles and lift together",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Hold and raise the round kitchenpot with handles together",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Hold the round kitchenpot with handles with both arms",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Hold the gray kitchenpot firmly with arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Raise the round kitchenpot with handles together with arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Securely lift the round kitchenpot with handles together",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Bring the medium kitchenpot made of metal up together",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Raise the metal kitchenpot using both arms",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Lift the cylindrical kitchenpot upward with both arms"
+  ],
+  "unseen": [
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode18.json b/lift_pot/demo_clean/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0d22917d46b16b24f45519658953532988f69cd
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Support the metal kitchenpot and raise it upward",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Secure the gray kitchenpot and lift upward.",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Lift the gray kitchenpot carefully using arms",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Lift the smooth gray kitchenpot up together",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Lift the metal kitchenpot upward and hold it",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Bring the medium kitchenpot made of metal up together",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Raise the round kitchenpot with handles together using arms",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Raise the metal kitchenpot evenly with arms",
+    "Grab the round kitchenpot with handles using both arms",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Securely lift the metal kitchenpot together",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Raise the metal kitchenpot with strong support",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Use both arms to raise the metal kitchenpot.",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Raise the gray kitchenpot steadily using arms",
+    "Lift the gray kitchenpot up together",
+    "Hold the round kitchenpot with handles with both arms",
+    "Lift the round kitchenpot with handles up using your arms",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Lift the gray kitchenpot upward and hold it",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Lift the cylindrical kitchenpot upwards with care"
+  ],
+  "unseen": [
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode19.json b/lift_pot/demo_clean/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb7e97291f9a5ce7c665e9296b61a3822682ef5c
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Carry the metal kitchenpot securely using arms",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Lift the gray kitchenpot steadily with support",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Bring the medium-sized kitchenpot up together",
+    "Grab the medium-sized kitchenpot using both arms",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Hold the round kitchenpot with handles with both arms",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Grab the round kitchenpot with handles and lift together",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Lift the metal kitchenpot upward with both arms",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Lift the gray kitchenpot upwards with care",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Raise the metal kitchenpot steadily using arms",
+    "Secure the gray kitchenpot and lift it up",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Raise the metal kitchenpot upward with both hands",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Carry the metal kitchenpot securely using arms",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Bring the round kitchenpot with handles up together",
+    "Grab the gray kitchenpot using both arms",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Hold the smooth gray kitchenpot with both arms",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Lift the metal kitchenpot carefully using arms",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Lift the medium-sized kitchenpot up together",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Raise the gray kitchenpot evenly with arms",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Both arms lift the gray kitchenpot upright",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Hold and raise the round kitchenpot with handles together",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Hold the smooth gray kitchenpot firmly, then lift."
+  ],
+  "unseen": [
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode2.json b/lift_pot/demo_clean/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..be2eada5c9223ff62d18b7e6e8b4713a1c614679
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the metal kitchenpot upward and hold it",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Lift the metal kitchenpot using both arms now.",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Secure the metal kitchenpot and lift it up",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Lift the metal kitchenpot up together",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Bring the medium-sized kitchenpot up together",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Hold the round kitchenpot with handles with both arms",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Raise and hold the metal kitchenpot together",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Support the metal kitchenpot and raise it upward",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Grab the metal kitchenpot using both arms",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Raise the metal kitchenpot evenly with arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Hold and raise the gray kitchenpot together",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Lift the medium-sized kitchenpot up together",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Bring the dark gray stove kitchenpot up together",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Hold the smooth gray kitchenpot with both arms",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the round kitchenpot with handles together with arms",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Raise the gray kitchenpot with strong support",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Support the gray kitchenpot and raise it upward",
+    "Raise the gray kitchenpot upward with both hands",
+    "Grab the gray kitchenpot using both arms",
+    "Pick up the gray kitchenpot with both arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Hold the gray kitchenpot and lift upward"
+  ],
+  "unseen": [
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode20.json b/lift_pot/demo_clean/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f68e677ceec7d6cc84942380b6246ac8367d1a0
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and raise the gray kitchenpot together",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Raise the gray kitchenpot steadily using arms",
+    "Securely lift the cylindrical kitchenpot together",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Raise the metal kitchenpot securely with arms",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Both arms lift the gray kitchenpot upright",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Raise the metal kitchenpot together using arms",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Lift the metal kitchenpot steadily with support",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Carry the metal kitchenpot securely using arms",
+    "Raise the metal kitchenpot with strong support",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Bring the dark gray stove kitchenpot up together",
+    "Hold the metal kitchenpot firmly with arms",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Lift the medium-sized kitchenpot up together",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Lift the gray kitchenpot upward and hold it",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Grab the gray kitchenpot and lift it upwards",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Both arms lift the gray kitchenpot upright",
+    "Use arms to lift the gray kitchenpot upward",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Lift the metal kitchenpot steadily with support",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Hold and raise the gray kitchenpot together",
+    "Lift the metal kitchenpot steadily using arms",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Hold the gray kitchenpot firmly with arms",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Hold the round kitchenpot with handles with both arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Lift the metal kitchenpot upward and hold it",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Support the cylindrical kitchenpot and raise it upward"
+  ],
+  "unseen": [
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode21.json b/lift_pot/demo_clean/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..a88338369ce9824de3ca274c30645d688f1fc280
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and raise the metal kitchenpot together",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Take hold of the metal kitchenpot and lift up",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Raise and hold the metal kitchenpot together",
+    "Secure the gray kitchenpot and lift it up",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Bring the round kitchenpot with handles up together",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Lift the metal kitchenpot up together",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Bring the round kitchenpot with handles upwards together",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Lift the gray kitchenpot steadily using arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Lift the metal kitchenpot upward and hold it",
+    "Raise the round kitchenpot with handles with strong support",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Securely lift the round kitchenpot with handles together",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Raise the gray kitchenpot securely with arms",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Raise and hold the gray kitchenpot together",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Lift the medium kitchenpot made of metal up together",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Lift the metal kitchenpot upward and hold it",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Hold and raise the medium kitchenpot made of metal together"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode22.json b/lift_pot/demo_clean/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..613cef64b65e2a019bdfeb5352d4e5668a2e2da4
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the dark gray stove kitchenpot up together",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Grab the smooth gray kitchenpot using both arms",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Raise the round kitchenpot with handles with strong support",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Take hold of the gray kitchenpot and lift up",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Both arms lift the metal kitchenpot upright",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Raise and hold the gray kitchenpot together",
+    "Hold the gray kitchenpot with both arms",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Bring the metal kitchenpot up together",
+    "Hold and raise the round kitchenpot with handles together",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the dark gray stove kitchenpot up together",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Hold the gray kitchenpot and lift upward",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Secure the gray kitchenpot and lift upward.",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Grab the metal kitchenpot and lift together",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Grab the metal kitchenpot and lift it up",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Raise the round kitchenpot with handles together using arms",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Hold the metal kitchenpot with both arms",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Raise the cooking kitchenpot with side grips evenly with arms"
+  ],
+  "unseen": [
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode23.json b/lift_pot/demo_clean/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac472fd9658be9a216f39c22617ef63f1389b772
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Support the metal kitchenpot and raise it upward",
+    "Use both arms to raise the gray kitchenpot",
+    "Grab the metal kitchenpot using both arms",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Raise the metal kitchenpot steadily using arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Bring the cylindrical kitchenpot up together",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Raise the round kitchenpot with handles securely with arms",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Lift the cylindrical kitchenpot up together",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Hold the gray kitchenpot and lift upward",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Use both arms to raise the gray kitchenpot.",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Support the gray kitchenpot and raise it upward",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Raise the metal kitchenpot securely with arms",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Raise the metal kitchenpot upward with both hands",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Hold the gray kitchenpot firmly with arms",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Raise the metal kitchenpot evenly with arms",
+    "Hold the metal kitchenpot with both arms",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Bring the gray kitchenpot upwards together",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Pick up the cylindrical kitchenpot with careful lifting"
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode24.json b/lift_pot/demo_clean/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e6d751b7347b4e9a94e93a1c956f968646156db
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Carry the metal kitchenpot securely using arms",
+    "Lift the gray kitchenpot using both arms now.",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Hold the metal kitchenpot firmly and lift it",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Secure the gray kitchenpot and lift upward.",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Grab the metal kitchenpot and lift it up",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Lift the metal kitchenpot up using your arms",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Bring the metal kitchenpot upwards together",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Grab the round kitchenpot with handles using both arms",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Lift the gray kitchenpot up together",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Bring the medium-sized kitchenpot up together",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Hold the metal kitchenpot with both arms",
+    "Raise the metal kitchenpot using both arms",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Both arms lift the gray kitchenpot upright",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Pick up the metal kitchenpot with both arms",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Raise the gray kitchenpot together with arms",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Lift the metal kitchenpot steadily using arms",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Lift the cylindrical kitchenpot up together",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Bring the metal kitchenpot up together",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Hold the gray kitchenpot with both arms",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Pick up the gray kitchenpot with both arms",
+    "Securely lift the metal kitchenpot together",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Pick up the round kitchenpot with handles with careful lifting"
+  ],
+  "unseen": [
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode25.json b/lift_pot/demo_clean/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..89142f03e244d25352dac9c2d47df61fe6252036
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Raise and hold the metal kitchenpot together",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the metal kitchenpot upward and hold it",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Raise the round kitchenpot with handles together with arms",
+    "Raise the gray kitchenpot steadily using arms",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Raise the gray kitchenpot with strong support",
+    "Grab the gray kitchenpot and lift it up",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Hold the gray kitchenpot firmly with arms",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Pick up the gray kitchenpot with both arms",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Lift the metal kitchenpot up using your arms",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Hold the gray kitchenpot and lift upward",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Bring the metal kitchenpot up together",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Lift the metal kitchenpot up together",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Securely lift the gray kitchenpot together",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Pick up the gray kitchenpot with both arms",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Secure the metal kitchenpot and lift upward.",
+    "Hold the round kitchenpot with handles with both arms",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Use both arms to raise the gray kitchenpot.",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Bring the medium kitchenpot made of metal up together",
+    "Carry the gray kitchenpot securely using arms",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Lift the metal kitchenpot carefully using arms",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Lift the cylindrical kitchenpot carefully using both arms."
+  ],
+  "unseen": [
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode26.json b/lift_pot/demo_clean/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..78c44a713177289d27a69cab8fc180ed370873ff
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Both arms lift the metal kitchenpot upright",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Secure the gray kitchenpot and lift upward.",
+    "Raise the gray kitchenpot with strong support",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Raise and hold the gray kitchenpot together",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Use both arms to raise the gray kitchenpot",
+    "Take hold of the gray kitchenpot and lift up",
+    "Secure the gray kitchenpot and lift it up",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Raise the gray kitchenpot together using arms",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Raise the gray cylindrical metal kitchenpot using both arms",
+    "Hold the gray kitchenpot firmly with arms",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Bring the metal kitchenpot upwards together",
+    "Lift the medium-sized kitchenpot up together",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Securely lift the medium-sized kitchenpot together",
+    "Lift the metal kitchenpot upward with both arms",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Raise and hold the gray kitchenpot together",
+    "Raise the gray kitchenpot steadily using arms",
+    "Hold and raise the gray kitchenpot together",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Use both arms to raise the gray kitchenpot",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Use arms to lift the metal kitchenpot upward",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Raise the round kitchenpot with handles together with arms",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Lift the cylindrical kitchenpot up together",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Lift the kitchenpot with smooth exterior upwards with care"
+  ],
+  "unseen": [
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode27.json b/lift_pot/demo_clean/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..89b7619c286b626691f2c717bc0553bd2e3d717a
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Lift the metal kitchenpot carefully using arms",
+    "Securely lift the smooth gray kitchenpot together",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Secure the dark gray stove kitchenpot and lift upward.",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Raise the metal kitchenpot with strong support",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Hold the smooth gray kitchenpot with both arms",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Pick up the metal kitchenpot with both arms",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Lift the gray kitchenpot carefully using arms",
+    "Securely lift the round kitchenpot with handles together",
+    "Grab the round kitchenpot with handles using both arms",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Raise the metal kitchenpot upward with both hands",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Take hold of the metal kitchenpot and lift up",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Lift the gray kitchenpot steadily with support",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Hold the metal kitchenpot with both arms",
+    "Raise the gray kitchenpot securely with arms",
+    "Lift the gray kitchenpot upwards with care",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Lift the medium kitchenpot made of metal up together",
+    "Use both arms to raise the metal kitchenpot."
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode28.json b/lift_pot/demo_clean/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6dc1d68c5557096e4b9d872c4ef6a95fce4b801
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Raise the metal kitchenpot using both arms",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Hold the gray kitchenpot with both arms",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Secure the metal kitchenpot and lift upward.",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Lift the medium-sized kitchenpot up together",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Grip the metal kitchenpot firmly and lift",
+    "Bring the medium kitchenpot made of metal up together",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Grab the round kitchenpot with handles using both arms",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Pick up the gray kitchenpot with both arms",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Lift the metal kitchenpot carefully using arms",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Lift the metal kitchenpot upwards with care",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Use both arms to raise the metal kitchenpot.",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Lift the metal kitchenpot upward with both arms",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Secure the gray kitchenpot and lift it up",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Bring the cylindrical kitchenpot up together",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Grab the gray kitchenpot and lift it up",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Hold and raise the metal kitchenpot together",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Grab the gray kitchenpot and lift together",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Hold the gray kitchenpot firmly with arms",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Hold the gray kitchenpot and lift upward",
+    "Raise and hold the gray kitchenpot together",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Lift the round kitchenpot with handles steadily using arms"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode29.json b/lift_pot/demo_clean/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..13688decc7e8571a99e134d10fc1c08ea1d7bd26
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Hold the round kitchenpot with handles with both arms",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Carry the gray kitchenpot securely using arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Bring the gray kitchenpot up together",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Raise and hold the gray kitchenpot together",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Use both arms to raise the round kitchenpot with handles",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Lift the medium kitchenpot made of metal up together",
+    "Lift the gray kitchenpot upward with both arms",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Both arms lift the gray kitchenpot upright",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Use arms to lift the metal kitchenpot upward",
+    "Grip the gray kitchenpot firmly and lift",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Lift the gray kitchenpot steadily using arms",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Bring the kitchenpot with smooth exterior up together",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Use both arms to raise the gray kitchenpot",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Take hold of the metal kitchenpot and lift up",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Lift the round kitchenpot with handles up together",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Lift the cylindrical kitchenpot using both arms now."
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode3.json b/lift_pot/demo_clean/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab2a9dfedfdd57f8697c2186c283d11a07109033
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Use both arms to raise the metal kitchenpot.",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Use arms to lift the gray kitchenpot upward",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Lift the gray kitchenpot upward with both arms",
+    "Raise the gray kitchenpot together with arms",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Use both arms to raise the metal kitchenpot",
+    "Grab the gray kitchenpot and lift it up",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Grip the gray kitchenpot firmly and lift",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Lift the metal kitchenpot upwards with care",
+    "Lift the metal kitchenpot using both arms now.",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Securely lift the round kitchenpot with handles together",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Use arms to lift the gray kitchenpot upward",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Raise the gray kitchenpot together using arms",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Pick up the metal kitchenpot with both arms",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Grab the round kitchenpot with handles using both arms",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Raise the gray kitchenpot evenly with arms",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Raise the metal kitchenpot upward with both hands",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Raise the gray kitchenpot securely with arms",
+    "Lift the gray kitchenpot upward and hold it",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Raise the dark gray stove kitchenpot using both arms"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot upward using arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode30.json b/lift_pot/demo_clean/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..35d312673cd4e4b58458cda5a10e8ab670809ee2
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and raise the metal kitchenpot together",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Bring the gray kitchenpot upwards together",
+    "Use both arms to raise the gray kitchenpot.",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Lift the metal kitchenpot upward and hold it",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Lift the metal kitchenpot up using your arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Raise and hold the metal kitchenpot together",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Lift the dark gray stove kitchenpot up together",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Bring the metal kitchenpot up together",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Use both arms to raise the gray kitchenpot",
+    "Lift the round kitchenpot with handles up using your arms"
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode31.json b/lift_pot/demo_clean/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b10f189724de38d357bcd40f004cdcb41d25a56
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Hold the gray kitchenpot firmly with arms",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Grab the gray kitchenpot using both arms",
+    "Raise the metal kitchenpot evenly with arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise and hold the round kitchenpot with handles together",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Securely lift the round kitchenpot with handles together",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Raise the gray kitchenpot securely with arms",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Secure the gray kitchenpot and lift upward.",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Raise the gray kitchenpot together with arms",
+    "Raise the gray kitchenpot with strong support",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Use both arms to raise the metal kitchenpot.",
+    "Lift the dark gray stove kitchenpot up together",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Hold and raise the round kitchenpot with handles together",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Bring the metal kitchenpot up together",
+    "Lift the gray kitchenpot carefully using arms",
+    "Lift the metal kitchenpot steadily with support",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Securely lift the metal kitchenpot together",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Bring the gray kitchenpot upwards together",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Secure the cooking kitchenpot with side grips and lift it up"
+  ],
+  "unseen": [
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode32.json b/lift_pot/demo_clean/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..4967887d29ea9129fd748f4a49c0173abcc6c4ad
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Raise and hold the round kitchenpot with handles together",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Secure the gray kitchenpot and lift upward.",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Hold and raise the gray kitchenpot together",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Lift the smooth gray kitchenpot up together",
+    "Bring the gray kitchenpot upwards together",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Use both arms to raise the metal kitchenpot.",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Grip the gray kitchenpot firmly and lift",
+    "Raise the metal kitchenpot securely with arms",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Securely lift the round kitchenpot with handles together",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Raise the gray kitchenpot using both arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Hold the gray kitchenpot firmly with arms",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Raise the round kitchenpot with handles together with arms",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Grab the metal kitchenpot and lift it up",
+    "Lift the metal kitchenpot carefully using arms",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Hold the medium kitchenpot made of metal firmly, then lift."
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode33.json b/lift_pot/demo_clean/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..86a71ccf483bdf9772557fb616b570e92a5dc082
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Take hold of the gray kitchenpot and lift up",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Raise the gray kitchenpot steadily using arms",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Secure the metal kitchenpot and lift upward.",
+    "Lift the round kitchenpot with handles up together",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Raise the metal kitchenpot upward with both hands",
+    "Raise the gray kitchenpot using both arms",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Grip the gray kitchenpot firmly and lift",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Lift the metal kitchenpot upward and hold it",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Bring the metal kitchenpot up together",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Pick up the gray kitchenpot with both arms",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Lift the gray kitchenpot upward with both arms",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Securely lift the smooth gray kitchenpot together",
+    "Hold and raise the gray kitchenpot together",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Raise and hold the metal kitchenpot together",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Support the metal kitchenpot and raise it upward",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Raise the round kitchenpot with handles using both arms",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Use both arms to raise the gray kitchenpot.",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Hold and raise the metal kitchenpot together",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Lift the metal kitchenpot up using your arms",
+    "Grab the gray kitchenpot and lift it up",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Hold the gray kitchenpot with both arms",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Hold and raise the metal kitchenpot together"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode34.json b/lift_pot/demo_clean/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfec806df1bba5bb7226672d46fb953226436d02
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Both arms lift the gray kitchenpot upright",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Securely lift the round kitchenpot with handles together",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Pick up the metal kitchenpot with both arms",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Raise the gray kitchenpot together using arms",
+    "Lift the gray kitchenpot upward and hold it",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise the metal kitchenpot together with arms",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Grab the gray kitchenpot and lift it up",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Lift the medium-sized kitchenpot up together",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Bring the metal kitchenpot up together",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Raise the gray kitchenpot upward with both hands",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Take hold of the metal kitchenpot and lift up",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Lift the gray kitchenpot steadily using arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Lift the dark gray stove kitchenpot up together",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Raise and hold the metal kitchenpot together",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Raise the metal kitchenpot evenly with arms",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Lift the metal kitchenpot upwards with care",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Use both arms to raise the metal kitchenpot",
+    "Lift the medium kitchenpot made of metal using both arms now."
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode35.json b/lift_pot/demo_clean/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..449587572fef9e4941746360c46266c02e9a1eec
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Grab the metal kitchenpot and lift together",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Lift the gray kitchenpot using both arms now.",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Lift the gray kitchenpot steadily using arms",
+    "Raise the round kitchenpot with handles using both arms",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Hold and raise the gray kitchenpot together",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Lift the metal kitchenpot upwards with care",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Secure the metal kitchenpot and lift it up",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Grab the gray kitchenpot using both arms",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Lift the dark gray stove kitchenpot up together",
+    "Securely lift the metal kitchenpot together",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Grip the metal kitchenpot firmly and lift",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Hold the gray kitchenpot and lift upward",
+    "Raise and hold the metal kitchenpot together",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Hold the round kitchenpot with handles with both arms",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Hold and raise the round kitchenpot with handles together",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Both arms lift the metal kitchenpot upright",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Hold and raise the gray kitchenpot together",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Grab the gray kitchenpot using both arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Grab the gray kitchenpot and lift it up",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Securely lift the medium-sized kitchenpot together",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Engage arms to grip and lift the smooth gray kitchenpot.",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Lift the cylindrical kitchenpot up using your arms"
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode36.json b/lift_pot/demo_clean/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cebe01cb4ac67b2961e2c5e52353da8352d11f8
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Securely lift the medium-sized kitchenpot together",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Raise the metal kitchenpot steadily using arms",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Lift the metal kitchenpot upward with both arms",
+    "Secure the gray kitchenpot and lift upward.",
+    "Raise the gray kitchenpot together with arms",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Bring the gray kitchenpot up together",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Secure the metal kitchenpot and lift it up",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Raise the gray kitchenpot evenly with arms",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Hold the gray kitchenpot and lift upward",
+    "Lift the cylindrical kitchenpot up together",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Raise the gray kitchenpot using both arms",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Bring the metal kitchenpot upwards together",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Raise the metal kitchenpot together with arms",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Raise the gray kitchenpot upward with both hands",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Raise the metal kitchenpot together using arms",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Hold the gray kitchenpot with both arms",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Hold the metal kitchenpot and lift upward",
+    "Lift the metal kitchenpot up together",
+    "Lift the metal kitchenpot up using your arms",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Hold the cylindrical kitchenpot firmly, then lift."
+  ],
+  "unseen": [
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode37.json b/lift_pot/demo_clean/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea58d88ec833da0ec03e567693f350a108867d40
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the medium-sized kitchenpot up together",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the metal kitchenpot using both arms",
+    "Grab the gray kitchenpot using both arms",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Bring the metal kitchenpot upwards together",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Raise and hold the metal kitchenpot together",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Carry the gray kitchenpot securely using arms",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Lift the metal kitchenpot up together",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Lift the metal kitchenpot steadily with support",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Take hold of the gray kitchenpot and lift up",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Raise the metal kitchenpot together with arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Raise the gray kitchenpot securely with arms",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the round kitchenpot with handles using both arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Raise the gray kitchenpot together using arms",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Use arms to lift the gray kitchenpot upward",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Raise and hold the gray kitchenpot together",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Lift the cylindrical kitchenpot up together",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Secure the gray kitchenpot and lift upward.",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Secure the metal kitchenpot and lift it up",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Securely lift the round kitchenpot with handles together"
+  ],
+  "unseen": [
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode38.json b/lift_pot/demo_clean/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f24ccfb622f3b69150a170f5863e6754d5e409a
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Raise the gray cylindrical metal kitchenpot using both arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Grab the gray kitchenpot and lift together",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Take hold of the gray kitchenpot and lift up",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Bring the gray kitchenpot upwards together",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Raise the gray kitchenpot together using arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Lift the metal kitchenpot steadily with support",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Securely lift the round kitchenpot with handles together",
+    "Hold the metal kitchenpot firmly with arms",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Lift the dark gray stove kitchenpot up together",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Raise the gray kitchenpot together with arms",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Raise the gray kitchenpot with strong support",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Hold and raise the round kitchenpot with handles together",
+    "Grab the round kitchenpot with handles and lift together",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Secure the metal kitchenpot and lift it up",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Lift the medium-sized kitchenpot up together",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Raise the gray kitchenpot together with arms",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Hold the gray kitchenpot with both arms",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Raise the metal kitchenpot securely with arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Use both arms to raise the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode39.json b/lift_pot/demo_clean/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dc7a3eed3fce284a8ab93f86d8363e89667539f
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Support the metal kitchenpot and raise it upward",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Use arms to lift the gray kitchenpot upward",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Bring the dark gray stove kitchenpot up together",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Take hold of the gray kitchenpot and lift up",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Lift the metal kitchenpot upward and hold it",
+    "Securely lift the cylindrical kitchenpot together",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Raise and hold the round kitchenpot with handles together",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Support the gray kitchenpot and raise it upward",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Lift the dark gray stove kitchenpot up together",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Use arms to lift the metal kitchenpot upward",
+    "Raise the round kitchenpot with handles together with arms",
+    "Grip the gray kitchenpot firmly and lift",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Bring the medium-sized kitchenpot up together"
+  ],
+  "unseen": [
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode4.json b/lift_pot/demo_clean/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1939f73cae41542535d33b3ec35a52af4c9c664f
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the cylindrical kitchenpot upwards together",
+    "Use both arms to raise the metal kitchenpot",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Take hold of the metal kitchenpot and lift up",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Bring the gray kitchenpot up together",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Lift the dark gray stove kitchenpot up together",
+    "Grab the gray kitchenpot using both arms",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Secure the gray kitchenpot and lift upward.",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Raise the gray kitchenpot upward with both hands",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Securely lift the cylindrical kitchenpot together",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Raise the gray kitchenpot together with arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Lift the metal kitchenpot upward and hold it",
+    "Take hold of the gray kitchenpot and lift up",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Bring the smooth gray kitchenpot up together",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Raise the gray kitchenpot steadily using arms",
+    "Lift the dark gray stove kitchenpot up together",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Hold and raise the gray kitchenpot together",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Lift the metal kitchenpot upwards with care",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Raise and hold the round kitchenpot with handles together",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Securely lift the smooth gray kitchenpot together",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Grip the round kitchenpot with handles firmly and lift"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode40.json b/lift_pot/demo_clean/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e074975d4bdb5dffa933f890c1c486c3cc7019f
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Hold the gray kitchenpot and lift upward",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Bring the round kitchenpot with handles upwards together",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Lift the gray kitchenpot up using your arms",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Lift the round kitchenpot with handles up together",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Secure the gray kitchenpot and lift it up",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Securely lift the smooth gray kitchenpot together",
+    "Bring the metal kitchenpot up together",
+    "Hold and raise the gray kitchenpot together",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Raise and hold the smooth gray kitchenpot together",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Both arms lift the metal kitchenpot upright",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Raise the round kitchenpot with handles together using arms",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Lift the metal kitchenpot steadily with support",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Secure the metal kitchenpot and lift upward.",
+    "Lift the metal kitchenpot up together",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Raise the round kitchenpot with handles using both arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Bring the smooth gray kitchenpot up together",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Raise and hold the medium-sized kitchenpot together",
+    "With arms, raise the smooth gray kitchenpot upward slowly."
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode41.json b/lift_pot/demo_clean/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bd48655def4afab325a07a0b9dfdb05bd57f58a
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Support the gray kitchenpot and raise it upward",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Securely lift the cylindrical kitchenpot together",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Raise the gray kitchenpot upward with both hands",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Hold and raise the gray kitchenpot together",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Secure the gray kitchenpot and lift upward.",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Lift the round kitchenpot with handles up together",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Use both arms to raise the gray kitchenpot",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Bring the gray kitchenpot up together",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Grab the gray kitchenpot and lift together",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Grab the gray kitchenpot and lift it up",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Hold and raise the gray kitchenpot together",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Lift the metal kitchenpot using both arms now.",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Both arms lift the metal kitchenpot upright",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Use both arms to raise the metal kitchenpot",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Lift the gray kitchenpot steadily with support",
+    "Bring the round kitchenpot with handles up together",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Raise and hold the gray kitchenpot together",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Pick up the cooking kitchenpot with side grips with careful lifting"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode42.json b/lift_pot/demo_clean/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c428404c7b9997384c853f1d0bee92974f97950
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and raise the metal kitchenpot together",
+    "Lift the metal kitchenpot upwards with care",
+    "Raise and hold the round kitchenpot with handles together",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Lift the metal kitchenpot upward and hold it",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Bring the gray kitchenpot up together",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Raise the metal kitchenpot steadily using arms",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Raise the metal kitchenpot together with arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Take hold of the gray kitchenpot and lift up",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Lift the metal kitchenpot up together",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Securely lift the round kitchenpot with handles together",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Bring the gray kitchenpot up together",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Lift the metal kitchenpot steadily with support",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Hold the gray kitchenpot and lift upward",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Raise the metal kitchenpot together using arms",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Bring the gray kitchenpot upwards together",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Lift the metal kitchenpot upward with both arms",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Hold the metal kitchenpot firmly with arms",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Lift the gray kitchenpot using both arms now."
+  ],
+  "unseen": [
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode43.json b/lift_pot/demo_clean/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..89b604a0ceef6787b52fb54d0e8ef73df6f47443
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the metal kitchenpot steadily using arms",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Bring the gray kitchenpot up together",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Raise and hold the round kitchenpot with handles together",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Raise the gray cylindrical metal kitchenpot using both arms",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Lift the round kitchenpot with handles up together",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Raise the metal kitchenpot with strong support",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Lift the metal kitchenpot upwards with care",
+    "Lift the gray kitchenpot upward with both arms",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Hold and raise the gray kitchenpot together",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Use both arms to raise the gray kitchenpot",
+    "Lift the gray kitchenpot steadily using arms",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Carry the gray kitchenpot securely using arms",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Lift the gray kitchenpot upward and hold it",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Raise the metal kitchenpot together with arms",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Hold the gray kitchenpot firmly with arms",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Raise and hold the metal kitchenpot together",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Hold the metal kitchenpot and lift upward",
+    "Lift the metal kitchenpot up together",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Grab the gray kitchenpot and lift together",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Raise the kitchenpot for boiling and cooking with strong support"
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode44.json b/lift_pot/demo_clean/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..640fa1d26f028b72f867a2c49983340e99c45b3a
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Lift the smooth gray kitchenpot up together",
+    "Secure the gray kitchenpot and lift it up",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Lift the metal kitchenpot upward and hold it",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Lift the metal kitchenpot carefully using arms",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Securely lift the round kitchenpot with handles together",
+    "Support the gray kitchenpot and raise it upward",
+    "Grip the metal kitchenpot firmly and lift",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Raise the metal kitchenpot using both arms",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Bring the metal kitchenpot up together",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Lift the metal kitchenpot upwards with care",
+    "Hold the metal kitchenpot with both arms",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Grab the gray kitchenpot and lift it up",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Bring the gray kitchenpot upwards together",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Grab the round kitchenpot with handles using both arms",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Hold the metal kitchenpot and lift upward",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Securely lift the cylindrical kitchenpot together",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Raise the gray kitchenpot using both arms",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Raise the gray kitchenpot together with arms",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Raise and hold the round kitchenpot with handles together",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Lift the gray kitchenpot up using your arms",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Lift the metal kitchenpot upward with both arms",
+    "Bring the gray kitchenpot up together",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Hold the medium kitchenpot made of metal firmly and move upward."
+  ],
+  "unseen": [
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode45.json b/lift_pot/demo_clean/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..60f510e0b94b3fb6858758101f3e3c5584feb6fc
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Raise and hold the round kitchenpot with handles together",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Raise the round kitchenpot with handles together using arms",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Securely lift the metal kitchenpot together",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Bring the metal kitchenpot up together",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the medium-sized kitchenpot up together",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Secure the metal kitchenpot and lift upward.",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Lift the gray kitchenpot upwards with care",
+    "Securely lift the metal kitchenpot together",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Use arms to lift the metal kitchenpot upward",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Grab the round kitchenpot with handles and lift together",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Bring the metal kitchenpot up together",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the dark gray stove kitchenpot up together",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Hold and raise the kitchenpot with smooth exterior together"
+  ],
+  "unseen": [
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode46.json b/lift_pot/demo_clean/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..4220e1d18c1eae270eebd39e6d292c04cc5cc897
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Lift the medium kitchenpot made of metal up together",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Grab the metal kitchenpot and lift it up",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Grab the metal kitchenpot and lift together",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Lift the metal kitchenpot steadily with support",
+    "Lift the metal kitchenpot carefully using arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Lift the gray kitchenpot upwards with care",
+    "Lift the metal kitchenpot steadily using arms",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Support the gray kitchenpot and raise it upward",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Both arms lift the metal kitchenpot upright",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Secure the metal kitchenpot and lift upward.",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Raise the gray kitchenpot together with arms",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Lift the round kitchenpot with handles up together",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Use both arms to raise the metal kitchenpot.",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Raise the round kitchenpot with handles with strong support",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Hold the gray kitchenpot firmly with arms",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Bring the metal kitchenpot up together",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Both arms lift the smooth gray kitchenpot upright"
+  ],
+  "unseen": [
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode47.json b/lift_pot/demo_clean/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..099ce7ba1af9975cbbc1fcceefe3b0ec46754b29
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Securely lift the medium-sized kitchenpot together",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Raise the gray kitchenpot with strong support",
+    "Lift the medium kitchenpot made of metal up together",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Lift the gray kitchenpot carefully using arms",
+    "Hold the metal kitchenpot with both arms",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Bring the smooth gray kitchenpot up together",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Lift the gray kitchenpot upward and hold it",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Raise and hold the round kitchenpot with handles together",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Both arms lift the metal kitchenpot upright",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Securely lift the smooth gray kitchenpot together",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Lift the gray kitchenpot steadily using arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Lift the gray kitchenpot up together",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Take hold of the metal kitchenpot and lift up",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Raise the round kitchenpot with handles together using arms",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Use both arms to raise the metal kitchenpot.",
+    "Secure the gray kitchenpot and lift upward.",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Raise the gray kitchenpot together with arms",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Use arms to lift the medium kitchenpot made of metal upward"
+  ],
+  "unseen": [
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode48.json b/lift_pot/demo_clean/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a11a25190d4179a857aa00a7750549e06eb76ce
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Raise and hold the gray kitchenpot together",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Lift the smooth gray kitchenpot up together",
+    "Securely lift the round kitchenpot with handles together",
+    "Support the gray kitchenpot and raise it upward",
+    "Raise the gray kitchenpot steadily using arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Both arms lift the metal kitchenpot upright",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Bring the medium kitchenpot made of metal up together",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Raise the metal kitchenpot upward with both hands",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Secure the metal kitchenpot and lift it up",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Lift the metal kitchenpot upwards with care",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Lift the gray kitchenpot up together",
+    "Securely lift the metal kitchenpot together",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Bring the round kitchenpot with handles upwards together",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Bring the kitchenpot with smooth exterior up together",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Lift the smooth gray kitchenpot carefully using arms"
+  ],
+  "unseen": [
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode49.json b/lift_pot/demo_clean/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfe84e6a4491585f85bb09c742a4dba521430b62
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Secure the metal kitchenpot and lift upward.",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the metal kitchenpot steadily with support",
+    "Raise and hold the round kitchenpot with handles together",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Securely lift the gray kitchenpot together",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Raise the metal kitchenpot upward with both hands",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Lift the metal kitchenpot up together",
+    "Grab the round kitchenpot with handles using both arms",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Secure the metal kitchenpot and lift it up",
+    "Raise the gray cylindrical metal kitchenpot using both arms",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Secure the gray kitchenpot and lift upward.",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Pick up the gray kitchenpot with both arms",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Grab the gray kitchenpot and lift together",
+    "Securely lift the cylindrical kitchenpot together",
+    "Lift the metal kitchenpot carefully using arms",
+    "Lift the gray kitchenpot upwards with care",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Lift the gray kitchenpot using both arms now.",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Grab the gray kitchenpot using both arms",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Both arms lift the metal kitchenpot upright",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Pick up the gray kitchenpot with careful lifting",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Bring the smooth gray kitchenpot up together"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot upward using arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode5.json b/lift_pot/demo_clean/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ae0bd769cbeefa7ef3c88ea203bd4537cb9468a
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Raise the gray kitchenpot together using arms",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Raise the metal kitchenpot with strong support",
+    "Lift the metal kitchenpot up using your arms",
+    "Lift the gray kitchenpot using both arms now.",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Grip the gray kitchenpot firmly and lift",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Bring the dark gray stove kitchenpot up together",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Lift the gray kitchenpot up together",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Lift the metal kitchenpot upward and hold it",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Both arms lift the metal kitchenpot upright",
+    "Lift the gray kitchenpot steadily using arms",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Grab the gray kitchenpot using both arms",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Securely lift the metal kitchenpot together",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Secure the dark gray stove kitchenpot and lift upward.",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Pick up the metal kitchenpot with both arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Secure the metal kitchenpot and lift it up",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Carry the gray kitchenpot securely using arms",
+    "Use both arms to raise the metal kitchenpot",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Hold and raise the metal kitchenpot together",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Bring the round kitchenpot with handles up together",
+    "Grab the metal kitchenpot and lift together",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Lift the gray kitchenpot upward and hold it",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Grab the gray kitchenpot using both arms",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Hold the metal kitchenpot and lift upward",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Securely lift the smooth gray kitchenpot together",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Pick up the smooth gray kitchenpot with both arms"
+  ],
+  "unseen": [
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode50.json b/lift_pot/demo_clean/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..c42af5621739b466b380b773577f103b06da02b1
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Lift the smooth gray kitchenpot up together",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Hold the round kitchenpot with handles with both arms",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Bring the round kitchenpot with handles upwards together",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Raise the gray kitchenpot using both arms",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Bring the round kitchenpot with handles up together",
+    "Hold the metal kitchenpot firmly with arms",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Securely lift the gray kitchenpot together",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Raise the round kitchenpot with handles with strong support",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Raise the metal kitchenpot together using arms",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Raise the metal kitchenpot evenly with arms",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Raise the gray kitchenpot together with arms",
+    "Hold the gray kitchenpot with both arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Grab the round kitchenpot with handles using both arms",
+    "Raise and hold the gray kitchenpot together",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Raise the metal kitchenpot securely with arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Hold the gray kitchenpot firmly with arms",
+    "Both arms lift the metal kitchenpot upright",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Secure the metal kitchenpot and lift upward.",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Raise the medium-sized kitchenpot evenly with arms"
+  ],
+  "unseen": [
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode51.json b/lift_pot/demo_clean/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..18e0507ed661cbb379d9f0b495391ae782c79af2
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Hold the round kitchenpot with handles with both arms",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Lift the medium-sized kitchenpot up together",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Raise the gray kitchenpot securely with arms",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Bring the smooth gray kitchenpot up together",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Pick up the gray kitchenpot with both arms",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Support the gray kitchenpot and raise it upward",
+    "Securely lift the gray kitchenpot together",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Lift the metal kitchenpot steadily using arms",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Use both arms to raise the gray kitchenpot",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the metal kitchenpot up together",
+    "Lift the metal kitchenpot using both arms now.",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Raise the round kitchenpot with handles together using arms",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Bring the dark gray stove kitchenpot up together",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Lift the metal kitchenpot up using your arms",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Grab the round kitchenpot with handles and lift together",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Securely lift the metal kitchenpot together",
+    "Raise and hold the metal kitchenpot together",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Grip the metal kitchenpot firmly and lift",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Take hold of the gray kitchenpot and lift up",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Secure the gray kitchenpot and lift upward."
+  ],
+  "unseen": [
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode52.json b/lift_pot/demo_clean/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..a41c296f217a4453e5aa0b52d7fc1f4cc413600f
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the round kitchenpot with handles using both arms",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Raise the metal kitchenpot evenly with arms",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Lift the smooth gray kitchenpot up together",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Hold and raise the gray kitchenpot together",
+    "Raise the metal kitchenpot using both arms",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Hold the gray kitchenpot firmly with arms",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Raise and hold the gray kitchenpot together",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Lift the gray kitchenpot steadily using arms",
+    "Hold the gray kitchenpot and lift upward",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Use both arms to raise the metal kitchenpot",
+    "Hold the round kitchenpot with handles with both arms",
+    "Bring the smooth gray kitchenpot up together",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Both arms lift the metal kitchenpot upright",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Raise the metal kitchenpot steadily using arms",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Lift the metal kitchenpot up together",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Hold and raise the gray kitchenpot together",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Raise the gray kitchenpot with strong support",
+    "Hold the metal kitchenpot firmly with arms",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Secure the metal kitchenpot and lift it up",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Raise and hold the metal kitchenpot together",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Lift the gray kitchenpot steadily using arms",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Grab the cylindrical kitchenpot and lift together",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Lift the metal kitchenpot steadily with support",
+    "Raise the round kitchenpot with handles together with arms",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Grab the medium-sized kitchenpot and lift it up"
+  ],
+  "unseen": [
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode53.json b/lift_pot/demo_clean/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c367ad83b5e3cc957dd5920a4e3781972a57507
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Securely lift the smooth gray kitchenpot together",
+    "Raise the gray kitchenpot upward with both hands",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Grab the gray kitchenpot using both arms",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the cylindrical kitchenpot up together",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Lift the metal kitchenpot upwards with care",
+    "Raise the round kitchenpot with handles together with arms",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Bring the medium kitchenpot made of metal up together",
+    "Raise the gray kitchenpot using both arms",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Lift the metal kitchenpot steadily using arms",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Use both arms to raise the metal kitchenpot",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Bring the gray kitchenpot upwards together",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Use both arms to raise the metal kitchenpot.",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Grab the gray kitchenpot and lift it up",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Raise the metal kitchenpot steadily using arms",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Take hold of the gray kitchenpot and lift up",
+    "Raise the gray kitchenpot with strong support",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Lift the metal kitchenpot up together",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Lift the metal kitchenpot upwards with care",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Bring the smooth gray kitchenpot up together",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Grab the round kitchenpot with handles and lift together",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Use both arms to raise the smooth gray kitchenpot."
+  ],
+  "unseen": [
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode54.json b/lift_pot/demo_clean/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..e65c1ff06682eaa6bf3f743615296c948e3b1020
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Secure the dark gray stove kitchenpot and lift upward.",
+    "Lift the gray kitchenpot steadily with support",
+    "Bring the round kitchenpot with handles up together",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Take hold of the gray kitchenpot and lift up",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Raise the round kitchenpot with handles with strong support",
+    "Hold and raise the round kitchenpot with handles together",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Hold the metal kitchenpot with both arms",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Use both arms to raise the round kitchenpot with handles",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Secure the gray kitchenpot and lift it up",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Bring the cylindrical kitchenpot up together",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Raise the gray kitchenpot steadily using arms",
+    "Engage arms to grip and lift the smooth gray kitchenpot.",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Grab the gray kitchenpot and lift together",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Pick up the metal kitchenpot with both arms",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Take hold of the metal kitchenpot and lift up",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Lift the cylindrical kitchenpot up together",
+    "Support the metal kitchenpot and raise it upward",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Hold and raise the gray kitchenpot together",
+    "Lift the metal kitchenpot carefully using arms",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Hold the metal kitchenpot with both arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Raise the metal kitchenpot together using arms",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Raise and hold the metal kitchenpot together",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Hold the gray kitchenpot and lift upward",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Raise the round kitchenpot with handles together with arms",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Use arms to lift the metal kitchenpot upward",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Lift the kitchenpot with smooth exterior carefully using both arms."
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode55.json b/lift_pot/demo_clean/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..421e04fe20453341098d617171fac6c56e11ab39
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the medium-sized kitchenpot up together",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Bring the metal kitchenpot upwards together",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Raise the gray cylindrical metal kitchenpot using both arms",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Lift the gray kitchenpot upward with both arms",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Raise the gray kitchenpot with strong support",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Grab the round kitchenpot with handles using both arms",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Hold the gray kitchenpot firmly with arms",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Grab the metal kitchenpot and lift together",
+    "Hold and raise the gray kitchenpot together",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Lift the kitchenpot with smooth exterior up together",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Bring the cylindrical kitchenpot up together",
+    "Secure the gray kitchenpot and lift it up",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Raise the gray cylindrical metal kitchenpot using both arms",
+    "Grab the metal kitchenpot and lift it up",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Raise the gray kitchenpot upward with both hands",
+    "Lift the metal kitchenpot upward with both arms",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Carry the metal kitchenpot securely using arms",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Lift the gray kitchenpot using both arms now.",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Hold the metal kitchenpot firmly with arms",
+    "Use arms to lift the gray kitchenpot upward",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Hold the gray kitchenpot with both arms",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Lift the smooth gray kitchenpot up together",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Lift the medium-sized kitchenpot upward and hold it"
+  ],
+  "unseen": [
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode56.json b/lift_pot/demo_clean/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9ad220a96776b6b935fce7957ae62d4ba9ee871
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Support the gray kitchenpot and raise it upward",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Lift the dark gray stove kitchenpot up together",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Hold the metal kitchenpot and lift upward",
+    "Grab the gray kitchenpot and lift together",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Raise and hold the metal kitchenpot together",
+    "Grab the gray kitchenpot using both arms",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Carry the gray kitchenpot securely using arms",
+    "Hold the metal kitchenpot with both arms",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Lift the metal kitchenpot upward with both arms",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Raise the gray kitchenpot securely with arms",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Lift the metal kitchenpot upwards with care",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Raise the metal kitchenpot upward with both hands",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Lift the gray kitchenpot using both arms now.",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Pick up the metal kitchenpot with both arms",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Hold and raise the gray kitchenpot together",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Securely lift the medium-sized kitchenpot together",
+    "Raise the round kitchenpot with handles with strong support",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Raise and hold the round kitchenpot with handles together",
+    "Grab the metal kitchenpot using both arms",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Raise the metal kitchenpot using both arms",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Raise the cooking kitchenpot with side grips together using arms"
+  ],
+  "unseen": [
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode57.json b/lift_pot/demo_clean/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd8e0082b386dd6d591c3cd478d85c0d1198119
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the round kitchenpot with handles and lift it up",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Lift the gray kitchenpot up using your arms",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Secure the dark gray stove kitchenpot and lift upward.",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Both arms lift the metal kitchenpot upright",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Raise the round kitchenpot with handles together using arms",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Raise and hold the metal kitchenpot together",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Lift the gray kitchenpot steadily with support",
+    "Raise the gray kitchenpot steadily using arms",
+    "Bring the gray kitchenpot up together",
+    "Lift the smooth gray kitchenpot up together",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Hold and raise the metal kitchenpot together",
+    "Bring the gray kitchenpot upwards together",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Hold the metal kitchenpot and lift upward",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Securely lift the medium-sized kitchenpot together",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Lift the metal kitchenpot up using your arms",
+    "Pick up the gray kitchenpot with both arms",
+    "Raise the metal kitchenpot using both arms",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Both arms lift the gray kitchenpot upright",
+    "Lift the gray kitchenpot upward with both arms",
+    "Raise the round kitchenpot with handles together with arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Raise the gray kitchenpot securely with arms",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Grab the round kitchenpot with handles using both arms",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Bring the round kitchenpot with handles up together",
+    "Lift the medium kitchenpot made of metal up together",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Raise the metal kitchenpot upward with both hands",
+    "Grip the metal kitchenpot firmly and lift",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Carry the metal kitchenpot securely using arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Grab the medium-sized kitchenpot and lift it upwards"
+  ],
+  "unseen": [
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode58.json b/lift_pot/demo_clean/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1b76c7ae8b5b21f15162f6361225fb3806ca3e5
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Bring the round kitchenpot with handles up together",
+    "Securely lift the medium-sized kitchenpot together",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Lift the gray kitchenpot steadily using arms",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Lift the metal kitchenpot upwards with care",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Raise the round kitchenpot with handles with strong support",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Lift the smooth gray kitchenpot up together",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Raise the gray kitchenpot together using arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Hold and raise the gray kitchenpot together",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Bring the round kitchenpot with handles upwards together",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Hold the gray kitchenpot with both arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Lift the metal kitchenpot steadily using arms",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Hold the gray kitchenpot and lift upward",
+    "Raise the round kitchenpot with handles with strong support",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Lift the smooth gray kitchenpot up together",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Raise the gray kitchenpot together using arms",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Lift the gray kitchenpot carefully using arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Hold and raise the smooth gray kitchenpot together"
+  ],
+  "unseen": [
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode59.json b/lift_pot/demo_clean/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..84963de3fe1071919a0630d5e169cc5d7fd48cc1
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Use both arms to raise the metal kitchenpot.",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Raise and hold the metal kitchenpot together",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Raise the gray kitchenpot steadily using arms",
+    "Raise the metal kitchenpot together with arms",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Grip the metal kitchenpot firmly and lift",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Hold the metal kitchenpot firmly with arms",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Secure the metal kitchenpot and lift upward.",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Hold and raise the round kitchenpot with handles together",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Raise the gray kitchenpot steadily using arms",
+    "Raise the metal kitchenpot together with arms",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Carry the metal kitchenpot securely using arms",
+    "Raise the round kitchenpot with handles together using arms",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Bring the medium kitchenpot made of metal up together",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Grab the round kitchenpot with handles using both arms",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Raise the gray kitchenpot securely with arms",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Raise the cylindrical kitchenpot with strong support"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode6.json b/lift_pot/demo_clean/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec09f9ab3739f4e99b64a4f5887d10df67fd49c9
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Lift the gray kitchenpot upward with both arms",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Use both arms to raise the metal kitchenpot",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Take hold of the gray kitchenpot and lift up",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Lift the smooth gray kitchenpot up together",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Lift the metal kitchenpot up using your arms",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Grab the metal kitchenpot and lift it up",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Carry the metal kitchenpot securely using arms",
+    "Raise the metal kitchenpot upward with both hands",
+    "Pick up the metal kitchenpot with both arms",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Lift the gray kitchenpot upward and hold it",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Bring the medium-sized kitchenpot up together",
+    "Securely lift the round kitchenpot with handles together",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Grip the gray kitchenpot firmly and lift",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Raise the gray kitchenpot with strong support",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Raise the metal kitchenpot securely with arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Use arms to lift the gray kitchenpot upward",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Bring the dark gray stove kitchenpot up together",
+    "Securely lift the round kitchenpot with handles together",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Engage arms to grip and lift the smooth gray kitchenpot."
+  ],
+  "unseen": [
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode60.json b/lift_pot/demo_clean/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ce00407e20201ac570324b175fa197fca901f4d
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Grab the metal kitchenpot and lift it up",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Hold the gray kitchenpot with both arms",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Raise the gray kitchenpot upward with both hands",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Support the gray kitchenpot and raise it upward",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Securely lift the metal kitchenpot together",
+    "Lift the metal kitchenpot up using your arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Carry the gray kitchenpot securely using arms",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Lift the dark gray stove kitchenpot up together",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Lift the gray kitchenpot upwards with care",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Bring the metal kitchenpot up together",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Use both arms to raise the metal kitchenpot.",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Raise and hold the round kitchenpot with handles together",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Lift the gray kitchenpot carefully using arms",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Securely lift the medium-sized kitchenpot together",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Secure the gray kitchenpot and lift it up",
+    "Hold and raise the metal kitchenpot together",
+    "Take hold of the metal kitchenpot and lift up",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Grip the metal kitchenpot firmly and lift",
+    "Lift the cooking kitchenpot with side grips using both arms now."
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode61.json b/lift_pot/demo_clean/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf1345389ddd18d5a962447f39433fe169a88886
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Securely lift the metal kitchenpot together",
+    "Raise the gray kitchenpot with strong support",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Raise and hold the cylindrical kitchenpot together",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Lift the metal kitchenpot upwards with care",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Pick up the metal kitchenpot with both arms",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Raise the gray kitchenpot upward with both hands",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Bring the medium kitchenpot made of metal up together",
+    "Lift the cylindrical kitchenpot up together",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Bring the metal kitchenpot upwards together",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Secure the gray kitchenpot and lift upward.",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Use both arms to raise the metal kitchenpot.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise the gray kitchenpot steadily using arms",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Lift the metal kitchenpot steadily using arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Raise and hold the metal kitchenpot together",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Hold the gray kitchenpot and lift upward",
+    "Bring the medium-sized kitchenpot up together",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Support the metal kitchenpot and raise it upward",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Secure the metal kitchenpot and lift it up",
+    "Secure the gray kitchenpot and lift upward.",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Hold and raise the metal kitchenpot together",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Use arms to lift the metal kitchenpot upward",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Hold and raise the metal kitchenpot together",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Raise the smooth gray kitchenpot together with arms"
+  ],
+  "unseen": [
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the kitchenpot with two side handles up"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode62.json b/lift_pot/demo_clean/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..36a5f738ea81c5fc48675d7aa0140413ff7f4e63
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Lift the metal kitchenpot upward and hold it",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Raise the gray kitchenpot upward with both hands",
+    "Raise and hold the metal kitchenpot together",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Bring the medium kitchenpot made of metal up together",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Lift the gray kitchenpot steadily with support",
+    "Raise the round kitchenpot with handles together using arms",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Hold the gray kitchenpot with both arms",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Lift the gray kitchenpot up together",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Lift the gray kitchenpot carefully using arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Hold the gray kitchenpot firmly with arms",
+    "Use both arms to raise the metal kitchenpot.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Raise the gray kitchenpot together with arms",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Bring the smooth gray kitchenpot up together",
+    "Securely lift the medium-sized kitchenpot together",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Grab the metal kitchenpot and lift together",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Support the metal kitchenpot and raise it upward",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Raise the metal kitchenpot together using arms",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Pick up the dark gray stove kitchenpot with both arms"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode63.json b/lift_pot/demo_clean/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..036f2ac6958d5adac25d1c24a14d1c21c7fcde86
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the gray kitchenpot and lift together",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Securely lift the round kitchenpot with handles together",
+    "Lift the metal kitchenpot upward and hold it",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Hold the metal kitchenpot with both arms",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Raise and hold the metal kitchenpot together",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Secure the metal kitchenpot and lift it up",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Support the gray kitchenpot and raise it upward",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Bring the cylindrical kitchenpot up together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Lift the dark gray stove kitchenpot up together",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Hold the gray kitchenpot with both arms",
+    "Use both arms to raise the gray kitchenpot.",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Bring the medium-sized kitchenpot up together",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Pick up the gray kitchenpot with both arms",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Lift the smooth gray kitchenpot up together",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Bring the gray kitchenpot upwards together",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Lift the metal kitchenpot steadily with support",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Lift the metal kitchenpot using both arms now."
+  ],
+  "unseen": [
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode64.json b/lift_pot/demo_clean/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..189622e08a9babeb41050201918fe1037cb9bc8e
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the metal kitchenpot and lift together",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Grab the round kitchenpot with handles using both arms",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Lift the medium-sized kitchenpot up together",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Lift the gray kitchenpot steadily with support",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Raise the round kitchenpot with handles together using arms",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Lift the gray kitchenpot using both arms now.",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Grip the metal kitchenpot firmly and lift",
+    "Lift the gray kitchenpot carefully using arms",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Lift the gray kitchenpot upward with both arms",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Lift the metal kitchenpot steadily with support",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Raise and hold the round kitchenpot with handles together",
+    "Take hold of the gray kitchenpot and lift up",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Bring the metal kitchenpot upwards together",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Hold and raise the gray kitchenpot together",
+    "Bring the smooth gray kitchenpot up together",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Raise the metal kitchenpot steadily using arms",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Raise the metal kitchenpot evenly with arms",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Engage arms to grip and lift the smooth gray kitchenpot.",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Hold the round kitchenpot with handles with both arms",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Use both arms to raise the kitchenpot with smooth exterior."
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode65.json b/lift_pot/demo_clean/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c088ae460e082699f1b3db3324354c6dac709d1
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Raise the round kitchenpot with handles with strong support",
+    "Raise the round kitchenpot with handles together using arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Hold the gray kitchenpot firmly with arms",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Bring the metal kitchenpot upwards together",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Lift the smooth gray kitchenpot up together",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Lift the metal kitchenpot up using your arms",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Lift the metal kitchenpot upward with both arms",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Use both arms to raise the metal kitchenpot.",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Bring the metal kitchenpot up together",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Grab the gray kitchenpot and lift it up",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Raise the metal kitchenpot together using arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Raise the round kitchenpot with handles using both arms",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Pick up the metal kitchenpot with both arms",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Raise the metal kitchenpot together with arms",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Lift the gray kitchenpot up using your arms",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Bring the cylindrical kitchenpot up together"
+  ],
+  "unseen": [
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode66.json b/lift_pot/demo_clean/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a490582a60cb0fd59a29557d2574edb46ca11f5
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Hold the metal kitchenpot firmly with arms",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Raise the metal kitchenpot steadily using arms",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Use both arms to raise the gray kitchenpot.",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Hold the metal kitchenpot and lift upward",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Raise the metal kitchenpot with strong support",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Bring the metal kitchenpot up together",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Lift the metal kitchenpot using both arms now.",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Lift the metal kitchenpot steadily with support",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Use both arms to raise the gray kitchenpot.",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Grab the gray kitchenpot and lift it up",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Grab the metal kitchenpot using both arms",
+    "Secure the dark gray stove kitchenpot and lift upward.",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Bring the gray kitchenpot up together",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Lift the metal kitchenpot using both arms now.",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Securely lift the medium-sized kitchenpot together",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Hold the metal kitchenpot with both arms",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Carry the gray kitchenpot securely using arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Raise the metal kitchenpot upward with both hands",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Lift the gray kitchenpot up together"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode67.json b/lift_pot/demo_clean/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..afdf87e35b01fbc948abcb41735cedc8e9bc8c54
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Raise the gray kitchenpot evenly with arms",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Hold and raise the metal kitchenpot together",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Bring the metal kitchenpot up together",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold the smooth gray kitchenpot with both arms",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Grab the round kitchenpot with handles and lift together",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Lift the metal kitchenpot upward with both arms",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Take hold of the gray kitchenpot and lift up",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Secure the metal kitchenpot and lift it up",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Securely lift the smooth gray kitchenpot together",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Raise the metal kitchenpot evenly with arms",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Grab the round kitchenpot with handles using both arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Lift the metal kitchenpot up using your arms",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Hold and raise the gray kitchenpot together",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode68.json b/lift_pot/demo_clean/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d01c5688bdfc654de32d4f72b8fce133f40bcfe
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the round kitchenpot with handles and lift it up",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Raise the metal kitchenpot upward with both hands",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Secure the dark gray stove kitchenpot and lift upward.",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Raise and hold the gray kitchenpot together",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Hold and raise the round kitchenpot with handles together",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Grip the metal kitchenpot firmly and lift",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Raise the metal kitchenpot with strong support",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Hold the gray kitchenpot with both arms",
+    "Secure the metal kitchenpot and lift it up",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Securely lift the metal kitchenpot together",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Bring the metal kitchenpot up together",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot upwards with care",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Hold and raise the gray kitchenpot together",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Raise the metal kitchenpot together with arms",
+    "Grip the metal kitchenpot firmly and lift",
+    "Raise the metal kitchenpot evenly with arms",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Lift the gray kitchenpot up using your arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Hold the dark gray stove kitchenpot with both arms"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode69.json b/lift_pot/demo_clean/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..81eb3e1d798d83f938a365cd78814d65b4c40e48
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the medium-sized kitchenpot up together",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Lift the gray kitchenpot up together",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Grab the gray kitchenpot using both arms",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Hold the metal kitchenpot firmly with arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Use both arms to raise the gray kitchenpot.",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Raise and hold the gray kitchenpot together",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Securely lift the gray cylindrical metal kitchenpot together",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Hold and raise the round kitchenpot with handles together",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Pick up the gray kitchenpot with both arms",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Lift the medium kitchenpot made of metal up together",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Securely lift the round kitchenpot with handles together",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Lift the metal kitchenpot up using your arms",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Raise the smooth gray kitchenpot steadily using arms"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode7.json b/lift_pot/demo_clean/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b34a280d09240a161a653398936c9aeb6a99c3d6
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and raise the smooth gray kitchenpot together",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Securely lift the smooth gray kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Grab the round kitchenpot with handles and lift together",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Secure the metal kitchenpot and lift upward.",
+    "Hold the metal kitchenpot with both arms",
+    "Raise the gray kitchenpot with strong support",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Lift the metal kitchenpot using both arms now.",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Lift the metal kitchenpot upward and hold it",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Hold and raise the smooth gray kitchenpot together",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Securely lift the gray kitchenpot together",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Carry the metal kitchenpot securely using arms",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Grab the gray kitchenpot and lift it up",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Use arms to lift the gray kitchenpot upward",
+    "Secure the gray kitchenpot and lift upward.",
+    "Hold the gray kitchenpot with both arms",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Raise and hold the cylindrical kitchenpot together"
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode70.json b/lift_pot/demo_clean/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4e12ef0ade5c6d0ba38e719f2bbf82b1ef5dd3d
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Hold and raise the gray kitchenpot together",
+    "Grab the gray kitchenpot and lift together",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Raise the round kitchenpot with handles using both arms",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Lift the metal kitchenpot up together",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Lift the gray kitchenpot carefully using arms",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the metal kitchenpot securely with arms",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Carry the metal kitchenpot securely using arms",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Raise the gray kitchenpot together using arms",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Bring the dark gray stove kitchenpot up together",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Raise and hold the smooth gray kitchenpot together",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Lift the gray kitchenpot upwards with care",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Grab the gray kitchenpot and lift together",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Raise the metal kitchenpot using both arms",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Hold the round kitchenpot with handles with both arms",
+    "Grab the gray kitchenpot using both arms",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Raise the metal kitchenpot together with arms",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Lift the metal kitchenpot upward and hold it",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Raise the kitchenpot for boiling and cooking steadily using arms"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode71.json b/lift_pot/demo_clean/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..99f2d64277a0afa39e097fcc3d92fe4786c4a834
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and raise the metal kitchenpot together",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Raise and hold the round kitchenpot with handles together",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Raise the metal kitchenpot upward with both hands",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Bring the round kitchenpot with handles up together",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Grip the gray kitchenpot firmly and lift",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Hold and raise the metal kitchenpot together",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Take hold of the gray kitchenpot and lift up",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Engage arms to grip and lift the smooth gray kitchenpot.",
+    "Lift the metal kitchenpot steadily with support",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Raise the gray kitchenpot steadily using arms",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Securely lift the cylindrical kitchenpot together",
+    "Hold and raise the metal kitchenpot together",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Bring the medium kitchenpot made of metal up together",
+    "Bring the gray kitchenpot upwards together",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Grip the metal kitchenpot firmly and lift",
+    "Use arms to lift the metal kitchenpot upward",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Raise the round kitchenpot with handles together using arms",
+    "Hold the dark gray stove kitchenpot and lift upward"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode72.json b/lift_pot/demo_clean/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ed71c979b2c9087f6cdb333ea60dcad8a799db6
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Pick up the metal kitchenpot with both arms",
+    "Both arms lift the metal kitchenpot upright",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Hold the metal kitchenpot and lift upward",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Lift the gray kitchenpot up together",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Lift the gray kitchenpot upward with both arms",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Bring the round kitchenpot with handles up together",
+    "Lift the gray kitchenpot upward and hold it",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the metal kitchenpot steadily with support",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Carry the metal kitchenpot securely using arms",
+    "Grip the gray kitchenpot firmly and lift",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Raise the gray kitchenpot evenly with arms",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Raise the gray kitchenpot upward with both hands",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Take hold of the gray kitchenpot and lift up",
+    "Pick up the metal kitchenpot with both arms",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Bring the cylindrical kitchenpot up together",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Hold the metal kitchenpot with both arms",
+    "Carry the metal kitchenpot securely using arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Lift the gray kitchenpot upwards with care",
+    "Use arms to lift the metal kitchenpot upward",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Securely lift the cylindrical kitchenpot together",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Grab the metal kitchenpot using both arms",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Lift the metal kitchenpot up using your arms",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Use both arms to raise the gray kitchenpot",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Grasp the kitchenpot for boiling and cooking and elevate together."
+  ],
+  "unseen": [
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode73.json b/lift_pot/demo_clean/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..5561d05b344888a4f81137083ca85ece0f7a1121
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Support the gray kitchenpot and raise it upward",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Raise the metal kitchenpot with strong support",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Bring the gray kitchenpot upwards together",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Raise the gray kitchenpot securely with arms",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Use both arms to raise the gray kitchenpot",
+    "Lift the medium-sized kitchenpot up together",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Carry the metal kitchenpot securely using arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Lift the metal kitchenpot steadily using arms",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Hold the gray kitchenpot with both arms",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Lift the metal kitchenpot steadily with support",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Grab the round kitchenpot with handles and lift together",
+    "Both arms lift the metal kitchenpot upright",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Raise the metal kitchenpot upward with both hands",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Hold the metal kitchenpot firmly with arms",
+    "Bring the gray kitchenpot upwards together",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Use both arms to raise the metal kitchenpot.",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Lift the gray kitchenpot carefully using arms",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Hold the gray kitchenpot and lift upward",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Lift the cylindrical kitchenpot up together",
+    "Raise the metal kitchenpot together with arms",
+    "Bring the smooth gray kitchenpot up together",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Lift the medium kitchenpot made of metal upwards with care"
+  ],
+  "unseen": [
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode74.json b/lift_pot/demo_clean/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e40970731fb8c5433d6df98ab5be2df4dcff3f5
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Bring the kitchenpot with smooth exterior up together",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Lift the gray kitchenpot carefully using arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Raise the metal kitchenpot using both arms",
+    "Grab the round kitchenpot with handles using both arms",
+    "Grip the metal kitchenpot firmly and lift",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Raise the round kitchenpot with handles together with arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Raise the gray kitchenpot upward with both hands",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Raise the gray kitchenpot securely with arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Raise the metal kitchenpot evenly with arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Lift the cylindrical kitchenpot up together",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Hold the smooth gray kitchenpot with both arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Raise the metal kitchenpot together using arms",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Use both arms to raise the gray kitchenpot",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Raise the gray kitchenpot with strong support",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Bring the gray kitchenpot up together",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Grab the metal kitchenpot using both arms",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Raise the metal kitchenpot together with arms",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Raise the metal kitchenpot upward with both hands",
+    "Lift the metal kitchenpot up using your arms",
+    "Raise the gray kitchenpot securely with arms",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Support the gray kitchenpot and raise it upward",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Lift the dark gray stove kitchenpot up together",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Hold the gray cylindrical metal kitchenpot with both arms"
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode75.json b/lift_pot/demo_clean/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..83066b3b7d418e2cab699e17a28e08ddbc690f7a
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Lift the smooth gray kitchenpot up together",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Raise the metal kitchenpot upward with both hands",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Grab the gray kitchenpot and lift together",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Support the gray kitchenpot and raise it upward",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Raise the gray kitchenpot securely with arms",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the metal kitchenpot together with arms",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the medium kitchenpot made of metal up together",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Grab the metal kitchenpot and lift together",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Use both arms to raise the gray kitchenpot",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Use arms to lift the metal kitchenpot upward",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Take hold of the metal kitchenpot and lift up",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Raise the metal kitchenpot with strong support",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Secure the metal kitchenpot and lift it up",
+    "Bring the metal kitchenpot up together",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Lift the gray kitchenpot up using your arms",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Lift the gray kitchenpot carefully using arms",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the medium kitchenpot made of metal together with arms"
+  ],
+  "unseen": [
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode76.json b/lift_pot/demo_clean/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..04e50df3c53e02cef137894379a0e5aaa5043f0e
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Lift the round kitchenpot with handles up together",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Pick up the gray kitchenpot with both arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Grab the round kitchenpot with handles using both arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Use arms to lift the metal kitchenpot upward",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Secure the metal kitchenpot and lift it up",
+    "Bring the medium-sized kitchenpot upwards together",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Both arms lift the gray kitchenpot upright",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Raise the gray kitchenpot with strong support",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Hold and raise the gray kitchenpot together",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Raise the metal kitchenpot evenly with arms",
+    "Raise the metal kitchenpot using both arms",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Carry the cooking kitchenpot with side grips securely using arms"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode77.json b/lift_pot/demo_clean/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c6d39fb6aad1a8e1781d789502718bd9f51757f
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Securely lift the cylindrical kitchenpot together",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Lift the cylindrical kitchenpot up together",
+    "Use arms to lift the metal kitchenpot upward",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the gray kitchenpot upwards with care",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Raise and hold the gray kitchenpot together",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Raise the round kitchenpot with handles using both arms",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Take hold of the metal kitchenpot and lift up",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Bring the round kitchenpot with handles upwards together",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Hold and raise the gray kitchenpot together",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Lift the smooth gray kitchenpot up together",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Hold and raise the gray kitchenpot together",
+    "Lift the gray kitchenpot upwards with care",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Bring the gray kitchenpot up together",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Grab the metal kitchenpot and lift it up",
+    "Secure the metal kitchenpot and lift upward.",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Secure the gray kitchenpot and lift it up",
+    "Take hold of the gray kitchenpot and lift up",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Grab the gray kitchenpot using both arms",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Raise the round kitchenpot with handles together with arms",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Raise the smooth gray kitchenpot with strong support"
+  ],
+  "unseen": [
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode78.json b/lift_pot/demo_clean/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc0076d19e61ccc81ffafa021bc5b8a0f6bf61ae
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Grab the metal kitchenpot and lift together",
+    "Raise the gray kitchenpot evenly with arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Securely lift the metal kitchenpot together",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Both arms lift the gray kitchenpot upright",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Carry the metal kitchenpot securely using arms",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Lift the medium kitchenpot made of metal up together",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Bring the cylindrical kitchenpot up together",
+    "Raise the gray kitchenpot together with arms",
+    "Hold the gray kitchenpot firmly with arms",
+    "Grab the metal kitchenpot using both arms",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Grab the cylindrical kitchenpot and lift it up",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Hold the metal kitchenpot with both arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Raise the gray kitchenpot securely with arms",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Raise and hold the metal kitchenpot together",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Raise the gray kitchenpot upward with both hands",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Lift the gray kitchenpot upwards with care",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Lift the metal kitchenpot up using your arms",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Bring the metal kitchenpot upwards together",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Securely lift the cylindrical kitchenpot together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Secure the gray kitchenpot and lift it up",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Bring the kitchenpot with smooth exterior up together",
+    "Raise the metal kitchenpot together with arms",
+    "Hold the metal kitchenpot firmly with arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Hold the cylindrical kitchenpot firmly and lift it"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode79.json b/lift_pot/demo_clean/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3f836c0c37e606740ed529f091bd8d55e6f4712
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Bring the smooth gray kitchenpot up together",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Raise the round kitchenpot with handles using both arms",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Raise the gray kitchenpot together with arms",
+    "Raise the metal kitchenpot together using arms",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Lift the gray kitchenpot up using your arms",
+    "Raise the gray kitchenpot steadily using arms",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Hold and raise the metal kitchenpot together",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Raise the metal kitchenpot evenly with arms",
+    "Lift the metal kitchenpot carefully using arms",
+    "Grip the metal kitchenpot firmly and lift",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Raise the gray kitchenpot upward with both hands",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Raise the gray kitchenpot securely with arms",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Pick up the gray kitchenpot with both arms",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Securely lift the round kitchenpot with handles together",
+    "Raise the gray kitchenpot using both arms",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Use both arms to raise the gray kitchenpot.",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Take hold of the metal kitchenpot and lift up",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Lift the gray kitchenpot upward and hold it",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Hold and raise the metal kitchenpot together",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Raise the cylindrical kitchenpot evenly with arms"
+  ],
+  "unseen": [
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode8.json b/lift_pot/demo_clean/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b1f4e30c1a54debc3dec2e0c0a35bf06a279444
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Bring the dark gray stove kitchenpot up together",
+    "Lift the metal kitchenpot steadily with support",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Raise the gray kitchenpot securely with arms",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Lift the gray kitchenpot upwards with care",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Lift the dark gray stove kitchenpot up together",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Lift the metal kitchenpot upward and hold it",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Securely lift the gray kitchenpot together",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Lift the metal kitchenpot up using your arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Lift the gray kitchenpot steadily using arms",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Raise the gray kitchenpot using both arms",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Carry the gray kitchenpot securely using arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the metal kitchenpot using both arms now.",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Raise the gray kitchenpot steadily using arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Lift the metal kitchenpot up together",
+    "Hold the smooth gray kitchenpot with both arms",
+    "Raise and hold the round kitchenpot with handles together",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Take hold of the metal kitchenpot and lift up",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Secure the metal kitchenpot and lift upward.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Securely lift the smooth gray kitchenpot together",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Raise the gray kitchenpot with strong support",
+    "With arms, raise the metal kitchenpot upward slowly."
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode80.json b/lift_pot/demo_clean/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..415111a30d2bc0079f649f2ce4337b9abaf5166f
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the gray kitchenpot carefully using arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Hold the metal kitchenpot and lift upward",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the medium kitchenpot made of metal up together",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Pick up the gray kitchenpot with both arms",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Raise the metal kitchenpot securely with arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Use both arms to raise the metal kitchenpot.",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Grip the metal kitchenpot firmly and lift",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Bring the round kitchenpot with handles up together",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Grab the metal kitchenpot and lift together",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Raise the round kitchenpot with handles together with arms",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Secure the metal kitchenpot and lift it up",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Raise the gray kitchenpot using both arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Hold the cylindrical kitchenpot and lift upward",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Raise the metal kitchenpot evenly with arms",
+    "Lift the medium kitchenpot made of metal up together",
+    "Both arms lift the metal kitchenpot upright",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the metal kitchenpot upward with both hands",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Lift the metal kitchenpot upward with both arms",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Securely lift the smooth gray kitchenpot together",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Secure the gray kitchenpot and lift it up",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Raise the round kitchenpot with handles using both arms",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Hold the dark gray stove kitchenpot firmly and lift it"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode81.json b/lift_pot/demo_clean/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfa65cc2c2e7cad48492cbfd3d59a66ceb3afaca
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Hold and raise the round kitchenpot with handles together",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Hold the gray kitchenpot with both arms",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Bring the gray kitchenpot upwards together",
+    "Use both arms to raise the gray kitchenpot",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Lift the gray kitchenpot steadily with support",
+    "Lift the metal kitchenpot upward with both arms",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Hold the gray kitchenpot firmly with arms",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Raise the gray kitchenpot with strong support",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Lift the medium-sized kitchenpot up together",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Secure the metal kitchenpot and lift upward.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the metal kitchenpot steadily using arms",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Pick up the gray kitchenpot with both arms",
+    "Raise the round kitchenpot with handles together using arms",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Use both arms to raise the gray kitchenpot",
+    "Both arms lift the metal kitchenpot upright",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Grip the metal kitchenpot firmly and lift",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Raise the gray kitchenpot evenly with arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Bring the smooth gray kitchenpot up together",
+    "Lift the cylindrical kitchenpot up together",
+    "Securely lift the metal kitchenpot together",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Take hold of the round kitchenpot with handles and lift up"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode82.json b/lift_pot/demo_clean/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f24253d14b3fd619341fff67696d5e9a9deb9c6
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Raise the metal kitchenpot together with arms",
+    "Raise the metal kitchenpot upward with both hands",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Raise the metal kitchenpot securely with arms",
+    "Lift the gray kitchenpot using both arms now.",
+    "Both arms lift the gray kitchenpot upright",
+    "Bring the metal kitchenpot up together",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Grab the round kitchenpot with handles using both arms",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Hold the smooth gray kitchenpot with both arms",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Raise the metal kitchenpot together using arms",
+    "Lift the metal kitchenpot steadily with support",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Lift the gray kitchenpot up together",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Raise the round kitchenpot with handles together with arms",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Grip the metal kitchenpot firmly and lift",
+    "Raise the metal kitchenpot securely with arms",
+    "Lift the gray kitchenpot using both arms now.",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Bring the medium kitchenpot made of metal up together",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Raise and hold the round kitchenpot with handles together",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Raise the gray cylindrical metal kitchenpot using both arms",
+    "Securely lift the smooth gray kitchenpot together",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Grab the metal kitchenpot and lift it up",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Pick up the metal kitchenpot with both arms",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Lift the gray kitchenpot carefully using arms",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Hold the smooth gray kitchenpot firmly and move upward."
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode83.json b/lift_pot/demo_clean/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..b431aeaf97df9c2f137d165bb179dcc016bb85cf
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Raise the round kitchenpot with handles together with arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Securely lift the medium-sized kitchenpot together",
+    "Lift the dark gray stove kitchenpot up together",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Bring the gray kitchenpot upwards together",
+    "Grip the gray kitchenpot firmly and lift",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Both arms lift the metal kitchenpot upright",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Lift the gray kitchenpot upward and hold it",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Securely lift the metal kitchenpot together",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Bring the round kitchenpot with handles upwards together",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Grab the metal kitchenpot and lift it up",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Raise the gray kitchenpot securely with arms",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Lift the gray kitchenpot steadily using arms",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Raise the metal kitchenpot together using arms",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Bring the gray kitchenpot up together",
+    "Raise the smooth gray kitchenpot with strong support"
+  ],
+  "unseen": [
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode84.json b/lift_pot/demo_clean/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f8733b9142e98435ba91c5f60db8ad1b1c2968a
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Bring the cylindrical kitchenpot up together",
+    "Take hold of the metal kitchenpot and lift up",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Lift the metal kitchenpot upward with both arms",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Grab the round kitchenpot with handles and lift together",
+    "Lift the gray kitchenpot using both arms now.",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Lift the gray kitchenpot up using your arms",
+    "Both arms lift the metal kitchenpot upright",
+    "Raise the metal kitchenpot upward with both hands",
+    "Lift the round kitchenpot with handles up together",
+    "Secure the metal kitchenpot and lift upward.",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Use arms to lift the metal kitchenpot upward",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Securely lift the medium-sized kitchenpot together",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Hold and raise the gray kitchenpot together",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Lift the gray kitchenpot carefully using arms",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Bring the round kitchenpot with handles up together",
+    "Take hold of the gray kitchenpot and lift up",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Lift the gray kitchenpot upward with both arms",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Hold and raise the gray kitchenpot together",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Secure the metal kitchenpot and lift upward.",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Securely lift the round kitchenpot with handles together",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Secure the gray kitchenpot and lift it up",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Raise the gray kitchenpot steadily using arms",
+    "Hold the kitchenpot with smooth exterior firmly with arms"
+  ],
+  "unseen": [
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode85.json b/lift_pot/demo_clean/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..31bed1f1107049cd31a21547604d5d9ff20f5072
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Grip the metal kitchenpot firmly and lift",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Pick up the gray kitchenpot with both arms",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Lift the gray kitchenpot upwards with care",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Lift the metal kitchenpot carefully using arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Lift the metal kitchenpot steadily using arms",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Bring the dark gray stove kitchenpot up together",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Both arms lift the gray kitchenpot upright",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Hold the gray kitchenpot with both arms",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Raise the round kitchenpot with handles with strong support",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Raise the gray kitchenpot securely with arms",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Bring the metal kitchenpot upwards together",
+    "Raise and hold the round kitchenpot with handles together",
+    "Grab the round kitchenpot with handles using both arms",
+    "Securely lift the smooth gray kitchenpot together",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Raise the gray kitchenpot upward with both hands",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Carry the gray kitchenpot securely using arms",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Grab the gray kitchenpot and lift it up",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Use both arms to raise the gray kitchenpot",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Grab the gray kitchenpot and lift together",
+    "Lift the metal kitchenpot upward and hold it"
+  ],
+  "unseen": [
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode86.json b/lift_pot/demo_clean/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..7035efe0c02fa04b9c7828e607007eaf5a5422f5
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Bring the dark gray stove kitchenpot up together",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Lift the medium-sized kitchenpot up together",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Hold the metal kitchenpot firmly with arms",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Hold the gray kitchenpot and lift upward",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Raise the metal kitchenpot using both arms",
+    "Securely lift the round kitchenpot with handles together",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Both arms lift the gray kitchenpot upright",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Grip the gray kitchenpot firmly and lift",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Hold the gray kitchenpot with both arms",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Bring the gray kitchenpot up together",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Lift the cylindrical kitchenpot up together",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Grab the metal kitchenpot and lift it up",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Grab the round kitchenpot with handles using both arms",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Hold the round kitchenpot with handles with both arms",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the cylindrical kitchenpot steadily using arms"
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode87.json b/lift_pot/demo_clean/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..07834bc8b2a25fac6dfde774b02b7cee0867eaa9
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Raise the gray kitchenpot with strong support",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Use both arms to raise the metal kitchenpot",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Lift the metal kitchenpot up together",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Hold and raise the gray kitchenpot together",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Lift the gray kitchenpot upward with both arms",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Grip the gray kitchenpot firmly and lift",
+    "Use arms to lift the metal kitchenpot upward",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Raise the metal kitchenpot using both arms",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Grab the metal kitchenpot and lift it up",
+    "Securely lift the round kitchenpot with handles together",
+    "Grab the gray kitchenpot and lift together",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Bring the medium-sized kitchenpot up together",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Secure the gray kitchenpot and lift it up",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Bring the round kitchenpot with handles upwards together",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Raise the round kitchenpot with handles with strong support",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Raise and hold the round kitchenpot with handles together",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Secure the gray kitchenpot and lift upward.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Grab the gray kitchenpot and lift together",
+    "Raise the round kitchenpot with handles together with arms",
+    "Bring the dark gray stove kitchenpot up together",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Hold the round kitchenpot with handles with both arms",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Lift the kitchenpot for boiling and cooking carefully using arms"
+  ],
+  "unseen": [
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode88.json b/lift_pot/demo_clean/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1355289394403943b6798b05e40426c3edee37c
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Lift the gray kitchenpot carefully using arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Lift the gray kitchenpot using both arms now.",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Raise the gray kitchenpot together with arms",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Secure the metal kitchenpot and lift upward.",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Raise the gray kitchenpot using both arms",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Hold and raise the metal kitchenpot together",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Support the gray kitchenpot and raise it upward",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Securely lift the round kitchenpot with handles together",
+    "Bring the smooth gray kitchenpot up together",
+    "Hold and raise the metal kitchenpot together",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Raise the round kitchenpot with handles with strong support",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Lift the gray kitchenpot up using your arms",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Lift the smooth gray kitchenpot up together",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Use both arms to raise the metal kitchenpot",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Lift the metal kitchenpot using both arms now.",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Hold the gray kitchenpot firmly with arms",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Raise the round kitchenpot with handles together using arms",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Bring the smooth gray kitchenpot up together",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Raise the metal kitchenpot with strong support",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Lift the cylindrical kitchenpot up using your arms"
+  ],
+  "unseen": [
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode89.json b/lift_pot/demo_clean/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..95c9e65fbcab90b57a6a9400937db8d2559fbf86
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Lift the metal kitchenpot steadily with support",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Securely lift the metal kitchenpot together",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Take hold of the metal kitchenpot and lift up",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Secure the metal kitchenpot and lift upward.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Support the metal kitchenpot and raise it upward",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Use both arms to raise the metal kitchenpot.",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Hold the round kitchenpot with handles with both arms",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Bring the smooth gray kitchenpot up together",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Lift the metal kitchenpot upward and hold it",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Lift the metal kitchenpot using both arms now.",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Raise and hold the gray kitchenpot together",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Lift the cylindrical kitchenpot up together",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Raise the metal kitchenpot together using arms",
+    "Use arms to lift the gray kitchenpot upward",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Lift the gray kitchenpot upward with both arms",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Hold the gray kitchenpot firmly with arms",
+    "Use both arms to raise the gray kitchenpot.",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Bring the metal kitchenpot up together",
+    "Place hands on the gray kitchenpot, then lift.",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Grip the metal kitchenpot firmly and lift",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Lift the medium kitchenpot made of metal up together",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Raise the metal kitchenpot together using arms",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Raise the kitchenpot with smooth exterior upward with both hands"
+  ],
+  "unseen": [
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode9.json b/lift_pot/demo_clean/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3ed3a886ec1fe193e0ae03765cf1106d85b652
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Lift the metal kitchenpot carefully using arms",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Securely lift the gray kitchenpot together",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Lift the metal kitchenpot upward and hold it",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Lift the round kitchenpot with handles up together",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Raise the metal kitchenpot together with arms",
+    "Raise the gray cylindrical metal kitchenpot using both arms",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Securely lift the smooth gray kitchenpot together",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Lift the gray kitchenpot upwards with care",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Raise the metal kitchenpot upward with both hands",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Grab the round kitchenpot with handles using both arms",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Bring the medium kitchenpot made of metal up together",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Hold the kitchenpot with smooth exterior firmly and move upward.",
+    "Raise the metal kitchenpot together using arms",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Lift the round kitchenpot with handles up together"
+  ],
+  "unseen": [
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode90.json b/lift_pot/demo_clean/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfb1c3a6c162f947fb1b0597d30dd9c1d1361184
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Bring the smooth gray kitchenpot up together",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Carry the gray kitchenpot securely using arms",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Raise and hold the round kitchenpot with handles together",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Lift the gray kitchenpot upwards with care",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Lift the metal kitchenpot upward with both arms",
+    "Lift the gray kitchenpot upward and hold it",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Lift the smooth gray kitchenpot up together",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Raise the metal kitchenpot together with arms",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Hold the gray kitchenpot with both arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Lift the metal kitchenpot steadily with support",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Lift the gray kitchenpot using both arms now.",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Support the gray kitchenpot and raise it upward",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Use arms to lift the gray kitchenpot upward",
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Use both arms to raise the gray kitchenpot.",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Securely lift the gray kitchenpot together",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Raise the dark gray stove kitchenpot evenly with arms"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms."
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode91.json b/lift_pot/demo_clean/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3ae87a0a83cd0d0a6759e33bc43825885b5553c
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Lift the metal kitchenpot upward with both arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Use both arms to raise the gray kitchenpot",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Hold the gray kitchenpot with both arms",
+    "Securely lift the gray kitchenpot together",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Hold and raise the gray kitchenpot together",
+    "Raise the metal kitchenpot securely with arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Raise and hold the gray kitchenpot together",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Lift the medium-sized kitchenpot up together",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Grab the metal kitchenpot and lift it up",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Raise the round kitchenpot with handles together using arms",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Support the gray kitchenpot and raise it upward",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Raise the metal kitchenpot steadily using arms",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Secure the gray kitchenpot and lift upward.",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Hold the metal kitchenpot with both arms",
+    "Securely lift the medium-sized kitchenpot together",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Grab the gray kitchenpot using both arms",
+    "Raise and hold the metal kitchenpot together",
+    "Take hold of the gray kitchenpot and lift up",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Use both arms to raise the gray kitchenpot.",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Lift the cylindrical kitchenpot up together",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Carry the metal kitchenpot securely using arms",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Lift the metal kitchenpot carefully using arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Bring the medium kitchenpot made of metal up together",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Hold the metal kitchenpot firmly with arms",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Raise the kitchenpot with smooth exterior steadily using arms"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode92.json b/lift_pot/demo_clean/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..fac90867922a71a8b4664222bafc869802657b92
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Bring the gray kitchenpot up together",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Use both arms to raise the gray kitchenpot.",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Use arms to lift the gray kitchenpot upward",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Raise the metal kitchenpot together using arms",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Hold the round kitchenpot with handles and lift upward",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Carry the gray kitchenpot securely using arms",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Grip the gray kitchenpot firmly and lift",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Securely lift the cylindrical kitchenpot together",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Bring the medium-sized kitchenpot up together",
+    "Hold the gray kitchenpot with both arms",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Raise the round kitchenpot with handles together using arms",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Lift the medium kitchenpot made of metal up together",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Hold the kitchenpot for boiling and cooking firmly with arms"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode93.json b/lift_pot/demo_clean/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..048f99b706b85f3852522b4c1b3c138df254b2e9
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to raise the gray kitchenpot",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Raise and hold the round kitchenpot with handles together",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Secure the gray cylindrical metal kitchenpot and lift upward.",
+    "Lift the round kitchenpot with handles up together",
+    "Use arms to lift the metal kitchenpot upward",
+    "Hold the metal kitchenpot firmly with arms",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Bring the round kitchenpot with handles up together",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Securely lift the gray kitchenpot together",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Raise the gray kitchenpot using both arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Raise the gray kitchenpot upward with both hands",
+    "Lift the metal kitchenpot upwards with care",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the metal kitchenpot securely with arms",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Secure the gray kitchenpot and lift it up",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Lift the gray kitchenpot upward and hold it",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Lift the round kitchenpot with handles up together",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Raise the gray kitchenpot together with arms",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Support the gray kitchenpot and raise it upward",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Grab the round kitchenpot with handles using both arms",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Hold the gray kitchenpot with both arms",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Bring the medium kitchenpot made of metal up together",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Securely lift the round kitchenpot with handles together",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Raise the metal kitchenpot upward with both hands",
+    "Lift the cooking kitchenpot with side grips upwards with care",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Raise the metal kitchenpot with strong support",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Use both arms to raise the metal kitchenpot.",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Take hold of the medium-sized kitchenpot and lift up"
+  ],
+  "unseen": [
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode94.json b/lift_pot/demo_clean/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..555921f59ff28cb851378a43d5c3c38d2683ae24
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Bring the smooth gray kitchenpot up together",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Grab the metal kitchenpot using both arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Securely lift the smooth gray kitchenpot together",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Lift the round kitchenpot with handles up together",
+    "Place hands on the medium-sized kitchenpot, then lift.",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Lift the metal kitchenpot upward and hold it",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Raise the gray kitchenpot securely with arms",
+    "Grip the gray kitchenpot firmly and lift",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Bring the metal kitchenpot up together",
+    "Raise the gray kitchenpot steadily using arms",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Securely lift the round kitchenpot with handles together",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Bring the metal kitchenpot upwards together",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Carry the gray kitchenpot securely using arms",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Lift the medium kitchenpot made of metal up together",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Raise the gray kitchenpot evenly with arms",
+    "Raise the gray kitchenpot together with arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Use both arms to raise the metal kitchenpot.",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Grab the metal kitchenpot and lift together",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Raise the gray kitchenpot securely with arms",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Support the metal kitchenpot and raise it upward"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode95.json b/lift_pot/demo_clean/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..bff17421461c5f1ac96d8725f5b507f804b8541a
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Lift the gray kitchenpot up together",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Pick up the metal kitchenpot with both arms",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Secure the dark gray stove kitchenpot and lift upward.",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "With arms, raise the metal kitchenpot upward slowly.",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Raise the metal kitchenpot together with arms",
+    "Raise the gray kitchenpot evenly with arms",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Grab the gray kitchenpot using both arms",
+    "Lift the gray kitchenpot steadily using arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Lift the gray kitchenpot using both arms now.",
+    "Securely lift the round kitchenpot with handles together",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Hold the smooth gray kitchenpot with both arms",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Hold the metal kitchenpot firmly with arms",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Secure the metal kitchenpot and lift it up",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Secure the gray kitchenpot and lift upward.",
+    "Lift the metal kitchenpot carefully using arms",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the smooth gray kitchenpot with strong support",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Lift the gray kitchenpot upward and hold it",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Bring the kitchenpot with smooth exterior up together",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Lift the gray kitchenpot using both arms now.",
+    "Securely lift the round kitchenpot with handles together",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Use arms to lift the medium-sized kitchenpot upward"
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode96.json b/lift_pot/demo_clean/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..d31a872e97ca9dbe5880fd8cd6da0dcffb2a75eb
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Secure the metal kitchenpot and lift it up",
+    "Carry the gray kitchenpot securely using arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Raise the gray kitchenpot upward with both hands",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Raise the gray kitchenpot steadily using arms",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Bring the round kitchenpot with handles up together",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Lift the metal kitchenpot up using your arms",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Securely lift the medium-sized kitchenpot together",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Lift the medium kitchenpot made of metal up together",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Raise the round kitchenpot with handles using both arms",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Grab the gray kitchenpot and lift together",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Raise the gray kitchenpot evenly with arms",
+    "Use both arms to raise the metal kitchenpot",
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Lift the metal kitchenpot up together",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Lift the cooking kitchenpot with side grips steadily with support"
+  ],
+  "unseen": [
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode97.json b/lift_pot/demo_clean/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..d867983b2deb7aaee57367b1ab7e5510362a5685
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Grab the metal kitchenpot and lift together",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Bring the smooth gray kitchenpot up together",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Hold the gray kitchenpot with both arms",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Lift the dark gray stove kitchenpot up together",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Grip the metal kitchenpot firmly and lift",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Securely lift the smooth gray kitchenpot together",
+    "Grab the round kitchenpot with handles using both arms",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Lift the metal kitchenpot upward with both arms",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Hold and raise the gray kitchenpot together",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Raise the metal kitchenpot together using arms",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Use arms to lift the gray kitchenpot upward",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Both arms lift the gray kitchenpot upright",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Raise and hold the gray kitchenpot together",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Raise the round kitchenpot with handles together with arms",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Raise the gray kitchenpot using both arms",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Lift the smooth gray kitchenpot carefully using arms",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Raise the gray kitchenpot securely with arms",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Lift the gray cylindrical metal kitchenpot using both arms now."
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode98.json b/lift_pot/demo_clean/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1c2243fdfac169ac3a7b82d2c224174e39c642e
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Grip the metal kitchenpot firmly and lift",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Take hold of the metal kitchenpot and lift up",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Raise the metal kitchenpot using both arms",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Secure the metal kitchenpot and lift it up",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Lift the gray kitchenpot up together",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Use both arms to raise the metal kitchenpot",
+    "Raise the cylindrical kitchenpot together using arms",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Hold and raise the metal kitchenpot together",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Hold the metal kitchenpot firmly with arms",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Securely lift the cylindrical kitchenpot together",
+    "Grab the gray kitchenpot and lift it up",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Raise the round kitchenpot with handles using both arms",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Bring the metal kitchenpot up together",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Raise the cylindrical kitchenpot together using arms",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Raise the metal kitchenpot securely with arms",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Securely lift the smooth gray kitchenpot together",
+    "Grab the metal kitchenpot and lift it up",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Raise the medium-sized kitchenpot upward with both hands",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Use arms to lift the medium-sized kitchenpot upward"
+  ],
+  "unseen": [
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/instructions/episode99.json b/lift_pot/demo_clean/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..b12c479f4872dd9bc6d8a452096b82357c2bccc5
--- /dev/null
+++ b/lift_pot/demo_clean/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Raise the gray cylindrical metal kitchenpot using both arms",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Raise the metal kitchenpot steadily using arms",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Bring the round kitchenpot with handles upwards together",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Raise the gray kitchenpot evenly with arms",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Securely lift the gray kitchenpot together",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Grab the metal kitchenpot and lift it up",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Use both arms to raise the metal kitchenpot",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Carry the metal kitchenpot securely using arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Both arms lift the metal kitchenpot upright",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Raise the metal kitchenpot with strong support",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Raise the gray kitchenpot using both arms",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Lift the gray kitchenpot upward with both arms",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Bring the kitchenpot with smooth exterior up together",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Raise the gray kitchenpot securely with arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Pick up the metal kitchenpot with both arms",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Securely lift the round kitchenpot with handles together",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the round kitchenpot with handles together with arms",
+    "Both arms lift the gray kitchenpot upright",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Lift the metal kitchenpot up together",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Raise the dark gray stove kitchenpot with strong support"
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/lift_pot/demo_clean/scene_info.json b/lift_pot/demo_clean/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae9cf056fa98338850478ff82036c7f1ad42d0a0
--- /dev/null
+++ b/lift_pot/demo_clean/scene_info.json
@@ -0,0 +1,1002 @@
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